Merged in f5soh/librepilot/update_credits (pull request #529)

[librepilot.git] / flight / libraries / mavlink / v1.0 / common / mavlink_msg_command_long.h

// MESSAGE COMMAND_LONG PACKING

#define MAVLINK_MSG_ID_COMMAND_LONG 76

typedef struct __mavlink_command_long_t {
    float    param1; ///< Parameter 1, as defined by MAV_CMD enum.
    float    param2; ///< Parameter 2, as defined by MAV_CMD enum.
    float    param3; ///< Parameter 3, as defined by MAV_CMD enum.
    float    param4; ///< Parameter 4, as defined by MAV_CMD enum.
    float    param5; ///< Parameter 5, as defined by MAV_CMD enum.
    float    param6; ///< Parameter 6, as defined by MAV_CMD enum.
    float    param7; ///< Parameter 7, as defined by MAV_CMD enum.
    uint16_t command; ///< Command ID, as defined by MAV_CMD enum.
    uint8_t  target_system; ///< System which should execute the command
    uint8_t  target_component; ///< Component which should execute the command, 0 for all components
    uint8_t  confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
} mavlink_command_long_t;

#define MAVLINK_MSG_ID_COMMAND_LONG_LEN 33
#define MAVLINK_MSG_ID_76_LEN           33


#define MAVLINK_MESSAGE_INFO_COMMAND_LONG \
    { \
        "COMMAND_LONG", \
        11, \
        { \
            { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_long_t, param1) }, \
            { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_long_t, param2) }, \
            { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_long_t, param3) }, \
            { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_long_t, param4) }, \
            { "param5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_long_t, param5) }, \
            { "param6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_command_long_t, param6) }, \
            { "param7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_long_t, param7) }, \
            { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_long_t, command) }, \
            { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_long_t, target_system) }, \
            { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_long_t, target_component) }, \
            { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_long_t, confirmation) }, \
        } \
    }


/**
 * @brief Pack a command_long message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 *
 * @param target_system System which should execute the command
 * @param target_component Component which should execute the command, 0 for all components
 * @param command Command ID, as defined by MAV_CMD enum.
 * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
 * @param param1 Parameter 1, as defined by MAV_CMD enum.
 * @param param2 Parameter 2, as defined by MAV_CMD enum.
 * @param param3 Parameter 3, as defined by MAV_CMD enum.
 * @param param4 Parameter 4, as defined by MAV_CMD enum.
 * @param param5 Parameter 5, as defined by MAV_CMD enum.
 * @param param6 Parameter 6, as defined by MAV_CMD enum.
 * @param param7 Parameter 7, as defined by MAV_CMD enum.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
                                                     uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[33];
    _mav_put_float(buf, 0, param1);
    _mav_put_float(buf, 4, param2);
    _mav_put_float(buf, 8, param3);
    _mav_put_float(buf, 12, param4);
    _mav_put_float(buf, 16, param5);
    _mav_put_float(buf, 20, param6);
    _mav_put_float(buf, 24, param7);
    _mav_put_uint16_t(buf, 28, command);
    _mav_put_uint8_t(buf, 30, target_system);
    _mav_put_uint8_t(buf, 31, target_component);
    _mav_put_uint8_t(buf, 32, confirmation);

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
#else
    mavlink_command_long_t packet;
    packet.param1  = param1;
    packet.param2  = param2;
    packet.param3  = param3;
    packet.param4  = param4;
    packet.param5  = param5;
    packet.param6  = param6;
    packet.param7  = param7;
    packet.command = command;
    packet.target_system    = target_system;
    packet.target_component = target_component;
    packet.confirmation     = confirmation;

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

    msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
    return mavlink_finalize_message(msg, system_id, component_id, 33, 152);
}

/**
 * @brief Pack a command_long message on a channel
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param chan The MAVLink channel this message was sent over
 * @param msg The MAVLink message to compress the data into
 * @param target_system System which should execute the command
 * @param target_component Component which should execute the command, 0 for all components
 * @param command Command ID, as defined by MAV_CMD enum.
 * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
 * @param param1 Parameter 1, as defined by MAV_CMD enum.
 * @param param2 Parameter 2, as defined by MAV_CMD enum.
 * @param param3 Parameter 3, as defined by MAV_CMD enum.
 * @param param4 Parameter 4, as defined by MAV_CMD enum.
 * @param param5 Parameter 5, as defined by MAV_CMD enum.
 * @param param6 Parameter 6, as defined by MAV_CMD enum.
 * @param param7 Parameter 7, as defined by MAV_CMD enum.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_command_long_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                          mavlink_message_t *msg,
                                                          uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[33];
    _mav_put_float(buf, 0, param1);
    _mav_put_float(buf, 4, param2);
    _mav_put_float(buf, 8, param3);
    _mav_put_float(buf, 12, param4);
    _mav_put_float(buf, 16, param5);
    _mav_put_float(buf, 20, param6);
    _mav_put_float(buf, 24, param7);
    _mav_put_uint16_t(buf, 28, command);
    _mav_put_uint8_t(buf, 30, target_system);
    _mav_put_uint8_t(buf, 31, target_component);
    _mav_put_uint8_t(buf, 32, confirmation);

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 33);
#else
    mavlink_command_long_t packet;
    packet.param1  = param1;
    packet.param2  = param2;
    packet.param3  = param3;
    packet.param4  = param4;
    packet.param5  = param5;
    packet.param6  = param6;
    packet.param7  = param7;
    packet.command = command;
    packet.target_system    = target_system;
    packet.target_component = target_component;
    packet.confirmation     = confirmation;

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 33);
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

    msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 33, 152);
}

/**
 * @brief Encode a command_long struct into a message
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param msg The MAVLink message to compress the data into
 * @param command_long C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_command_long_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_command_long_t *command_long)
{
    return mavlink_msg_command_long_pack(system_id, component_id, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
}

/**
 * @brief Send a command_long message
 * @param chan MAVLink channel to send the message
 *
 * @param target_system System which should execute the command
 * @param target_component Component which should execute the command, 0 for all components
 * @param command Command ID, as defined by MAV_CMD enum.
 * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
 * @param param1 Parameter 1, as defined by MAV_CMD enum.
 * @param param2 Parameter 2, as defined by MAV_CMD enum.
 * @param param3 Parameter 3, as defined by MAV_CMD enum.
 * @param param4 Parameter 4, as defined by MAV_CMD enum.
 * @param param5 Parameter 5, as defined by MAV_CMD enum.
 * @param param6 Parameter 6, as defined by MAV_CMD enum.
 * @param param7 Parameter 7, as defined by MAV_CMD enum.
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_command_long_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[33];
    _mav_put_float(buf, 0, param1);
    _mav_put_float(buf, 4, param2);
    _mav_put_float(buf, 8, param3);
    _mav_put_float(buf, 12, param4);
    _mav_put_float(buf, 16, param5);
    _mav_put_float(buf, 20, param6);
    _mav_put_float(buf, 24, param7);
    _mav_put_uint16_t(buf, 28, command);
    _mav_put_uint8_t(buf, 30, target_system);
    _mav_put_uint8_t(buf, 31, target_component);
    _mav_put_uint8_t(buf, 32, confirmation);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, 33, 152);
#else
    mavlink_command_long_t packet;
    packet.param1  = param1;
    packet.param2  = param2;
    packet.param3  = param3;
    packet.param4  = param4;
    packet.param5  = param5;
    packet.param6  = param6;
    packet.param7  = param7;
    packet.command = command;
    packet.target_system    = target_system;
    packet.target_component = target_component;
    packet.confirmation     = confirmation;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, 33, 152);
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
}

#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

// MESSAGE COMMAND_LONG UNPACKING


/**
 * @brief Get field target_system from command_long message
 *
 * @return System which should execute the command
 */
static inline uint8_t mavlink_msg_command_long_get_target_system(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint8_t(msg, 30);
}

/**
 * @brief Get field target_component from command_long message
 *
 * @return Component which should execute the command, 0 for all components
 */
static inline uint8_t mavlink_msg_command_long_get_target_component(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint8_t(msg, 31);
}

/**
 * @brief Get field command from command_long message
 *
 * @return Command ID, as defined by MAV_CMD enum.
 */
static inline uint16_t mavlink_msg_command_long_get_command(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint16_t(msg, 28);
}

/**
 * @brief Get field confirmation from command_long message
 *
 * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
 */
static inline uint8_t mavlink_msg_command_long_get_confirmation(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint8_t(msg, 32);
}

/**
 * @brief Get field param1 from command_long message
 *
 * @return Parameter 1, as defined by MAV_CMD enum.
 */
static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 0);
}

/**
 * @brief Get field param2 from command_long message
 *
 * @return Parameter 2, as defined by MAV_CMD enum.
 */
static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 4);
}

/**
 * @brief Get field param3 from command_long message
 *
 * @return Parameter 3, as defined by MAV_CMD enum.
 */
static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 8);
}

/**
 * @brief Get field param4 from command_long message
 *
 * @return Parameter 4, as defined by MAV_CMD enum.
 */
static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 12);
}

/**
 * @brief Get field param5 from command_long message
 *
 * @return Parameter 5, as defined by MAV_CMD enum.
 */
static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 16);
}

/**
 * @brief Get field param6 from command_long message
 *
 * @return Parameter 6, as defined by MAV_CMD enum.
 */
static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 20);
}

/**
 * @brief Get field param7 from command_long message
 *
 * @return Parameter 7, as defined by MAV_CMD enum.
 */
static inline float mavlink_msg_command_long_get_param7(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 24);
}

/**
 * @brief Decode a command_long message into a struct
 *
 * @param msg The message to decode
 * @param command_long C-struct to decode the message contents into
 */
static inline void mavlink_msg_command_long_decode(const mavlink_message_t *msg, mavlink_command_long_t *command_long)
{
#if MAVLINK_NEED_BYTE_SWAP
    command_long->param1  = mavlink_msg_command_long_get_param1(msg);
    command_long->param2  = mavlink_msg_command_long_get_param2(msg);
    command_long->param3  = mavlink_msg_command_long_get_param3(msg);
    command_long->param4  = mavlink_msg_command_long_get_param4(msg);
    command_long->param5  = mavlink_msg_command_long_get_param5(msg);
    command_long->param6  = mavlink_msg_command_long_get_param6(msg);
    command_long->param7  = mavlink_msg_command_long_get_param7(msg);
    command_long->command = mavlink_msg_command_long_get_command(msg);
    command_long->target_system    = mavlink_msg_command_long_get_target_system(msg);
    command_long->target_component = mavlink_msg_command_long_get_target_component(msg);
    command_long->confirmation     = mavlink_msg_command_long_get_confirmation(msg);
#else
    memcpy(command_long, _MAV_PAYLOAD(msg), 33);
#endif
}