lib/main/MAVLink/common/mavlink_msg_hil_actuator_controls.h

   1 #pragma once
   2 // MESSAGE HIL_ACTUATOR_CONTROLS PACKING
   3
   4 #define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS 93
   5
   6
   7 typedef struct __mavlink_hil_actuator_controls_t {
   8  uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
   9  uint64_t flags; /*<  Flags as bitfield, 1: indicate simulation using lockstep.*/
  10  float controls[16]; /*<  Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.*/
  11  uint8_t mode; /*<  System mode. Includes arming state.*/
  12 } mavlink_hil_actuator_controls_t;
  13
  14 #define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN 81
  15 #define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN 81
  16 #define MAVLINK_MSG_ID_93_LEN 81
  17 #define MAVLINK_MSG_ID_93_MIN_LEN 81
  18
  19 #define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC 47
  20 #define MAVLINK_MSG_ID_93_CRC 47
  21
  22 #define MAVLINK_MSG_HIL_ACTUATOR_CONTROLS_FIELD_CONTROLS_LEN 16
  23
  24 #if MAVLINK_COMMAND_24BIT
  25 #define MAVLINK_MESSAGE_INFO_HIL_ACTUATOR_CONTROLS { \
  26     93, \
  27     "HIL_ACTUATOR_CONTROLS", \
  28     4, \
  29     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
  30          { "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 16, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
  31          { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
  32          { "flags", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
  33          } \
  34 }
  35 #else
  36 #define MAVLINK_MESSAGE_INFO_HIL_ACTUATOR_CONTROLS { \
  37     "HIL_ACTUATOR_CONTROLS", \
  38     4, \
  39     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
  40          { "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 16, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
  41          { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
  42          { "flags", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
  43          } \
  44 }
  45 #endif
  46
  47 /**
  48  * @brief Pack a hil_actuator_controls message
  49  * @param system_id ID of this system
  50  * @param component_id ID of this component (e.g. 200 for IMU)
  51  * @param msg The MAVLink message to compress the data into
  52  *
  53  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
  54  * @param controls  Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
  55  * @param mode  System mode. Includes arming state.
  56  * @param flags  Flags as bitfield, 1: indicate simulation using lockstep.
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_hil_actuator_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  60                                uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63     char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
  64     _mav_put_uint64_t(buf, 0, time_usec);
  65     _mav_put_uint64_t(buf, 8, flags);
  66     _mav_put_uint8_t(buf, 80, mode);
  67     _mav_put_float_array(buf, 16, controls, 16);
  68         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
  69 #else
  70     mavlink_hil_actuator_controls_t packet;
  71     packet.time_usec = time_usec;
  72     packet.flags = flags;
  73     packet.mode = mode;
  74     mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
  75         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
  76 #endif
  77
  78     msg->msgid = MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS;
  79     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
  80 }
  81
  82 /**
  83  * @brief Pack a hil_actuator_controls message on a channel
  84  * @param system_id ID of this system
  85  * @param component_id ID of this component (e.g. 200 for IMU)
  86  * @param chan The MAVLink channel this message will be sent over
  87  * @param msg The MAVLink message to compress the data into
  88  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
  89  * @param controls  Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
  90  * @param mode  System mode. Includes arming state.
  91  * @param flags  Flags as bitfield, 1: indicate simulation using lockstep.
  92  * @return length of the message in bytes (excluding serial stream start sign)
  93  */
  94 static inline uint16_t mavlink_msg_hil_actuator_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  95                                mavlink_message_t* msg,
  96                                    uint64_t time_usec,const float *controls,uint8_t mode,uint64_t flags)
  97 {
  98 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  99     char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
 100     _mav_put_uint64_t(buf, 0, time_usec);
 101     _mav_put_uint64_t(buf, 8, flags);
 102     _mav_put_uint8_t(buf, 80, mode);
 103     _mav_put_float_array(buf, 16, controls, 16);
 104         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
 105 #else
 106     mavlink_hil_actuator_controls_t packet;
 107     packet.time_usec = time_usec;
 108     packet.flags = flags;
 109     packet.mode = mode;
 110     mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
 111         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
 112 #endif
 113
 114     msg->msgid = MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS;
 115     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 116 }
 117
 118 /**
 119  * @brief Encode a hil_actuator_controls struct
 120  *
 121  * @param system_id ID of this system
 122  * @param component_id ID of this component (e.g. 200 for IMU)
 123  * @param msg The MAVLink message to compress the data into
 124  * @param hil_actuator_controls C-struct to read the message contents from
 125  */
 126 static inline uint16_t mavlink_msg_hil_actuator_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
 127 {
 128     return mavlink_msg_hil_actuator_controls_pack(system_id, component_id, msg, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
 129 }
 130
 131 /**
 132  * @brief Encode a hil_actuator_controls struct on a channel
 133  *
 134  * @param system_id ID of this system
 135  * @param component_id ID of this component (e.g. 200 for IMU)
 136  * @param chan The MAVLink channel this message will be sent over
 137  * @param msg The MAVLink message to compress the data into
 138  * @param hil_actuator_controls C-struct to read the message contents from
 139  */
 140 static inline uint16_t mavlink_msg_hil_actuator_controls_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
 141 {
 142     return mavlink_msg_hil_actuator_controls_pack_chan(system_id, component_id, chan, msg, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
 143 }
 144
 145 /**
 146  * @brief Send a hil_actuator_controls message
 147  * @param chan MAVLink channel to send the message
 148  *
 149  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 150  * @param controls  Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
 151  * @param mode  System mode. Includes arming state.
 152  * @param flags  Flags as bitfield, 1: indicate simulation using lockstep.
 153  */
 154 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 155
 156 static inline void mavlink_msg_hil_actuator_controls_send(mavlink_channel_t chan, uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
 157 {
 158 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 159     char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
 160     _mav_put_uint64_t(buf, 0, time_usec);
 161     _mav_put_uint64_t(buf, 8, flags);
 162     _mav_put_uint8_t(buf, 80, mode);
 163     _mav_put_float_array(buf, 16, controls, 16);
 164     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 165 #else
 166     mavlink_hil_actuator_controls_t packet;
 167     packet.time_usec = time_usec;
 168     packet.flags = flags;
 169     packet.mode = mode;
 170     mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
 171     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 172 #endif
 173 }
 174
 175 /**
 176  * @brief Send a hil_actuator_controls message
 177  * @param chan MAVLink channel to send the message
 178  * @param struct The MAVLink struct to serialize
 179  */
 180 static inline void mavlink_msg_hil_actuator_controls_send_struct(mavlink_channel_t chan, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183     mavlink_msg_hil_actuator_controls_send(chan, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
 184 #else
 185     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)hil_actuator_controls, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 186 #endif
 187 }
 188
 189 #if MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 190 /*
 191   This varient of _send() can be used to save stack space by re-using
 192   memory from the receive buffer.  The caller provides a
 193   mavlink_message_t which is the size of a full mavlink message. This
 194   is usually the receive buffer for the channel, and allows a reply to an
 195   incoming message with minimum stack space usage.
 196  */
 197 static inline void mavlink_msg_hil_actuator_controls_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
 198 {
 199 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 200     char *buf = (char *)msgbuf;
 201     _mav_put_uint64_t(buf, 0, time_usec);
 202     _mav_put_uint64_t(buf, 8, flags);
 203     _mav_put_uint8_t(buf, 80, mode);
 204     _mav_put_float_array(buf, 16, controls, 16);
 205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 206 #else
 207     mavlink_hil_actuator_controls_t *packet = (mavlink_hil_actuator_controls_t *)msgbuf;
 208     packet->time_usec = time_usec;
 209     packet->flags = flags;
 210     packet->mode = mode;
 211     mav_array_memcpy(packet->controls, controls, sizeof(float)*16);
 212     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
 213 #endif
 214 }
 215 #endif
 216
 217 #endif
 218
 219 // MESSAGE HIL_ACTUATOR_CONTROLS UNPACKING
 220
 221
 222 /**
 223  * @brief Get field time_usec from hil_actuator_controls message
 224  *
 225  * @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 226  */
 227 static inline uint64_t mavlink_msg_hil_actuator_controls_get_time_usec(const mavlink_message_t* msg)
 228 {
 229     return _MAV_RETURN_uint64_t(msg,  0);
 230 }
 231
 232 /**
 233  * @brief Get field controls from hil_actuator_controls message
 234  *
 235  * @return  Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.
 236  */
 237 static inline uint16_t mavlink_msg_hil_actuator_controls_get_controls(const mavlink_message_t* msg, float *controls)
 238 {
 239     return _MAV_RETURN_float_array(msg, controls, 16,  16);
 240 }
 241
 242 /**
 243  * @brief Get field mode from hil_actuator_controls message
 244  *
 245  * @return  System mode. Includes arming state.
 246  */
 247 static inline uint8_t mavlink_msg_hil_actuator_controls_get_mode(const mavlink_message_t* msg)
 248 {
 249     return _MAV_RETURN_uint8_t(msg,  80);
 250 }
 251
 252 /**
 253  * @brief Get field flags from hil_actuator_controls message
 254  *
 255  * @return  Flags as bitfield, 1: indicate simulation using lockstep.
 256  */
 257 static inline uint64_t mavlink_msg_hil_actuator_controls_get_flags(const mavlink_message_t* msg)
 258 {
 259     return _MAV_RETURN_uint64_t(msg,  8);
 260 }
 261
 262 /**
 263  * @brief Decode a hil_actuator_controls message into a struct
 264  *
 265  * @param msg The message to decode
 266  * @param hil_actuator_controls C-struct to decode the message contents into
 267  */
 268 static inline void mavlink_msg_hil_actuator_controls_decode(const mavlink_message_t* msg, mavlink_hil_actuator_controls_t* hil_actuator_controls)
 269 {
 270 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 271     hil_actuator_controls->time_usec = mavlink_msg_hil_actuator_controls_get_time_usec(msg);
 272     hil_actuator_controls->flags = mavlink_msg_hil_actuator_controls_get_flags(msg);
 273     mavlink_msg_hil_actuator_controls_get_controls(msg, hil_actuator_controls->controls);
 274     hil_actuator_controls->mode = mavlink_msg_hil_actuator_controls_get_mode(msg);
 275 #else
 276         uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN? msg->len : MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN;
 277         memset(hil_actuator_controls, 0, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
 278     memcpy(hil_actuator_controls, _MAV_PAYLOAD(msg), len);
 279 #endif
 280 }