lib/main/MAVLink/common/mavlink_msg_set_mode.h

   1 #pragma once
   2 // MESSAGE SET_MODE PACKING
   3
   4 #define MAVLINK_MSG_ID_SET_MODE 11
   5
   6
   7 typedef struct __mavlink_set_mode_t {
   8  uint32_t custom_mode; /*<  The new autopilot-specific mode. This field can be ignored by an autopilot.*/
   9  uint8_t target_system; /*<  The system setting the mode*/
  10  uint8_t base_mode; /*<  The new base mode.*/
  11 } mavlink_set_mode_t;
  12
  13 #define MAVLINK_MSG_ID_SET_MODE_LEN 6
  14 #define MAVLINK_MSG_ID_SET_MODE_MIN_LEN 6
  15 #define MAVLINK_MSG_ID_11_LEN 6
  16 #define MAVLINK_MSG_ID_11_MIN_LEN 6
  17
  18 #define MAVLINK_MSG_ID_SET_MODE_CRC 89
  19 #define MAVLINK_MSG_ID_11_CRC 89
  20
  21
  22
  23 #if MAVLINK_COMMAND_24BIT
  24 #define MAVLINK_MESSAGE_INFO_SET_MODE { \
  25     11, \
  26     "SET_MODE", \
  27     3, \
  28     {  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_set_mode_t, target_system) }, \
  29          { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_set_mode_t, base_mode) }, \
  30          { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_mode_t, custom_mode) }, \
  31          } \
  32 }
  33 #else
  34 #define MAVLINK_MESSAGE_INFO_SET_MODE { \
  35     "SET_MODE", \
  36     3, \
  37     {  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_set_mode_t, target_system) }, \
  38          { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_set_mode_t, base_mode) }, \
  39          { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_mode_t, custom_mode) }, \
  40          } \
  41 }
  42 #endif
  43
  44 /**
  45  * @brief Pack a set_mode message
  46  * @param system_id ID of this system
  47  * @param component_id ID of this component (e.g. 200 for IMU)
  48  * @param msg The MAVLink message to compress the data into
  49  *
  50  * @param target_system  The system setting the mode
  51  * @param base_mode  The new base mode.
  52  * @param custom_mode  The new autopilot-specific mode. This field can be ignored by an autopilot.
  53  * @return length of the message in bytes (excluding serial stream start sign)
  54  */
  55 static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  56                                uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
  57 {
  58 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  59     char buf[MAVLINK_MSG_ID_SET_MODE_LEN];
  60     _mav_put_uint32_t(buf, 0, custom_mode);
  61     _mav_put_uint8_t(buf, 4, target_system);
  62     _mav_put_uint8_t(buf, 5, base_mode);
  63
  64         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_MODE_LEN);
  65 #else
  66     mavlink_set_mode_t packet;
  67     packet.custom_mode = custom_mode;
  68     packet.target_system = target_system;
  69     packet.base_mode = base_mode;
  70
  71         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_MODE_LEN);
  72 #endif
  73
  74     msg->msgid = MAVLINK_MSG_ID_SET_MODE;
  75     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_MODE_MIN_LEN, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
  76 }
  77
  78 /**
  79  * @brief Pack a set_mode message on a channel
  80  * @param system_id ID of this system
  81  * @param component_id ID of this component (e.g. 200 for IMU)
  82  * @param chan The MAVLink channel this message will be sent over
  83  * @param msg The MAVLink message to compress the data into
  84  * @param target_system  The system setting the mode
  85  * @param base_mode  The new base mode.
  86  * @param custom_mode  The new autopilot-specific mode. This field can be ignored by an autopilot.
  87  * @return length of the message in bytes (excluding serial stream start sign)
  88  */
  89 static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  90                                mavlink_message_t* msg,
  91                                    uint8_t target_system,uint8_t base_mode,uint32_t custom_mode)
  92 {
  93 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  94     char buf[MAVLINK_MSG_ID_SET_MODE_LEN];
  95     _mav_put_uint32_t(buf, 0, custom_mode);
  96     _mav_put_uint8_t(buf, 4, target_system);
  97     _mav_put_uint8_t(buf, 5, base_mode);
  98
  99         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_MODE_LEN);
 100 #else
 101     mavlink_set_mode_t packet;
 102     packet.custom_mode = custom_mode;
 103     packet.target_system = target_system;
 104     packet.base_mode = base_mode;
 105
 106         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_MODE_LEN);
 107 #endif
 108
 109     msg->msgid = MAVLINK_MSG_ID_SET_MODE;
 110     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_MODE_MIN_LEN, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
 111 }
 112
 113 /**
 114  * @brief Encode a set_mode struct
 115  *
 116  * @param system_id ID of this system
 117  * @param component_id ID of this component (e.g. 200 for IMU)
 118  * @param msg The MAVLink message to compress the data into
 119  * @param set_mode C-struct to read the message contents from
 120  */
 121 static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
 122 {
 123     return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target_system, set_mode->base_mode, set_mode->custom_mode);
 124 }
 125
 126 /**
 127  * @brief Encode a set_mode struct on a channel
 128  *
 129  * @param system_id ID of this system
 130  * @param component_id ID of this component (e.g. 200 for IMU)
 131  * @param chan The MAVLink channel this message will be sent over
 132  * @param msg The MAVLink message to compress the data into
 133  * @param set_mode C-struct to read the message contents from
 134  */
 135 static inline uint16_t mavlink_msg_set_mode_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_mode_t* set_mode)
 136 {
 137     return mavlink_msg_set_mode_pack_chan(system_id, component_id, chan, msg, set_mode->target_system, set_mode->base_mode, set_mode->custom_mode);
 138 }
 139
 140 /**
 141  * @brief Send a set_mode message
 142  * @param chan MAVLink channel to send the message
 143  *
 144  * @param target_system  The system setting the mode
 145  * @param base_mode  The new base mode.
 146  * @param custom_mode  The new autopilot-specific mode. This field can be ignored by an autopilot.
 147  */
 148 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 149
 150 static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
 151 {
 152 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 153     char buf[MAVLINK_MSG_ID_SET_MODE_LEN];
 154     _mav_put_uint32_t(buf, 0, custom_mode);
 155     _mav_put_uint8_t(buf, 4, target_system);
 156     _mav_put_uint8_t(buf, 5, base_mode);
 157
 158     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, MAVLINK_MSG_ID_SET_MODE_MIN_LEN, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
 159 #else
 160     mavlink_set_mode_t packet;
 161     packet.custom_mode = custom_mode;
 162     packet.target_system = target_system;
 163     packet.base_mode = base_mode;
 164
 165     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, MAVLINK_MSG_ID_SET_MODE_MIN_LEN, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
 166 #endif
 167 }
 168
 169 /**
 170  * @brief Send a set_mode message
 171  * @param chan MAVLink channel to send the message
 172  * @param struct The MAVLink struct to serialize
 173  */
 174 static inline void mavlink_msg_set_mode_send_struct(mavlink_channel_t chan, const mavlink_set_mode_t* set_mode)
 175 {
 176 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 177     mavlink_msg_set_mode_send(chan, set_mode->target_system, set_mode->base_mode, set_mode->custom_mode);
 178 #else
 179     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)set_mode, MAVLINK_MSG_ID_SET_MODE_MIN_LEN, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
 180 #endif
 181 }
 182
 183 #if MAVLINK_MSG_ID_SET_MODE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 184 /*
 185   This varient of _send() can be used to save stack space by re-using
 186   memory from the receive buffer.  The caller provides a
 187   mavlink_message_t which is the size of a full mavlink message. This
 188   is usually the receive buffer for the channel, and allows a reply to an
 189   incoming message with minimum stack space usage.
 190  */
 191 static inline void mavlink_msg_set_mode_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
 192 {
 193 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 194     char *buf = (char *)msgbuf;
 195     _mav_put_uint32_t(buf, 0, custom_mode);
 196     _mav_put_uint8_t(buf, 4, target_system);
 197     _mav_put_uint8_t(buf, 5, base_mode);
 198
 199     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, MAVLINK_MSG_ID_SET_MODE_MIN_LEN, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
 200 #else
 201     mavlink_set_mode_t *packet = (mavlink_set_mode_t *)msgbuf;
 202     packet->custom_mode = custom_mode;
 203     packet->target_system = target_system;
 204     packet->base_mode = base_mode;
 205
 206     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)packet, MAVLINK_MSG_ID_SET_MODE_MIN_LEN, MAVLINK_MSG_ID_SET_MODE_LEN, MAVLINK_MSG_ID_SET_MODE_CRC);
 207 #endif
 208 }
 209 #endif
 210
 211 #endif
 212
 213 // MESSAGE SET_MODE UNPACKING
 214
 215
 216 /**
 217  * @brief Get field target_system from set_mode message
 218  *
 219  * @return  The system setting the mode
 220  */
 221 static inline uint8_t mavlink_msg_set_mode_get_target_system(const mavlink_message_t* msg)
 222 {
 223     return _MAV_RETURN_uint8_t(msg,  4);
 224 }
 225
 226 /**
 227  * @brief Get field base_mode from set_mode message
 228  *
 229  * @return  The new base mode.
 230  */
 231 static inline uint8_t mavlink_msg_set_mode_get_base_mode(const mavlink_message_t* msg)
 232 {
 233     return _MAV_RETURN_uint8_t(msg,  5);
 234 }
 235
 236 /**
 237  * @brief Get field custom_mode from set_mode message
 238  *
 239  * @return  The new autopilot-specific mode. This field can be ignored by an autopilot.
 240  */
 241 static inline uint32_t mavlink_msg_set_mode_get_custom_mode(const mavlink_message_t* msg)
 242 {
 243     return _MAV_RETURN_uint32_t(msg,  0);
 244 }
 245
 246 /**
 247  * @brief Decode a set_mode message into a struct
 248  *
 249  * @param msg The message to decode
 250  * @param set_mode C-struct to decode the message contents into
 251  */
 252 static inline void mavlink_msg_set_mode_decode(const mavlink_message_t* msg, mavlink_set_mode_t* set_mode)
 253 {
 254 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 255     set_mode->custom_mode = mavlink_msg_set_mode_get_custom_mode(msg);
 256     set_mode->target_system = mavlink_msg_set_mode_get_target_system(msg);
 257     set_mode->base_mode = mavlink_msg_set_mode_get_base_mode(msg);
 258 #else
 259         uint8_t len = msg->len < MAVLINK_MSG_ID_SET_MODE_LEN? msg->len : MAVLINK_MSG_ID_SET_MODE_LEN;
 260         memset(set_mode, 0, MAVLINK_MSG_ID_SET_MODE_LEN);
 261     memcpy(set_mode, _MAV_PAYLOAD(msg), len);
 262 #endif
 263 }