flight/libraries/mavlink/v1.0/common/mavlink_msg_hil_controls.h

   1 // MESSAGE HIL_CONTROLS PACKING
   2
   3 #define MAVLINK_MSG_ID_HIL_CONTROLS 91
   4
   5 typedef struct __mavlink_hil_controls_t {
   6     uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
   7     float    roll_ailerons; ///< Control output -1 .. 1
   8     float    pitch_elevator; ///< Control output -1 .. 1
   9     float    yaw_rudder; ///< Control output -1 .. 1
  10     float    throttle; ///< Throttle 0 .. 1
  11     float    aux1; ///< Aux 1, -1 .. 1
  12     float    aux2; ///< Aux 2, -1 .. 1
  13     float    aux3; ///< Aux 3, -1 .. 1
  14     float    aux4; ///< Aux 4, -1 .. 1
  15     uint8_t  mode; ///< System mode (MAV_MODE)
  16     uint8_t  nav_mode; ///< Navigation mode (MAV_NAV_MODE)
  17 } mavlink_hil_controls_t;
  18
  19 #define MAVLINK_MSG_ID_HIL_CONTROLS_LEN 42
  20 #define MAVLINK_MSG_ID_91_LEN           42
  21
  22
  23 #define MAVLINK_MESSAGE_INFO_HIL_CONTROLS \
  24     { \
  25         "HIL_CONTROLS", \
  26         11, \
  27         { \
  28             { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_controls_t, time_usec) }, \
  29             { "roll_ailerons", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_controls_t, roll_ailerons) }, \
  30             { "pitch_elevator", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_controls_t, pitch_elevator) }, \
  31             { "yaw_rudder", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_controls_t, yaw_rudder) }, \
  32             { "throttle", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_controls_t, throttle) }, \
  33             { "aux1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_controls_t, aux1) }, \
  34             { "aux2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_controls_t, aux2) }, \
  35             { "aux3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_controls_t, aux3) }, \
  36             { "aux4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_controls_t, aux4) }, \
  37             { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_hil_controls_t, mode) }, \
  38             { "nav_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_hil_controls_t, nav_mode) }, \
  39         } \
  40     }
  41
  42
  43 /**
  44  * @brief Pack a hil_controls message
  45  * @param system_id ID of this system
  46  * @param component_id ID of this component (e.g. 200 for IMU)
  47  * @param msg The MAVLink message to compress the data into
  48  *
  49  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  50  * @param roll_ailerons Control output -1 .. 1
  51  * @param pitch_elevator Control output -1 .. 1
  52  * @param yaw_rudder Control output -1 .. 1
  53  * @param throttle Throttle 0 .. 1
  54  * @param aux1 Aux 1, -1 .. 1
  55  * @param aux2 Aux 2, -1 .. 1
  56  * @param aux3 Aux 3, -1 .. 1
  57  * @param aux4 Aux 4, -1 .. 1
  58  * @param mode System mode (MAV_MODE)
  59  * @param nav_mode Navigation mode (MAV_NAV_MODE)
  60  * @return length of the message in bytes (excluding serial stream start sign)
  61  */
  62 static inline uint16_t mavlink_msg_hil_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  63                                                      uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
  64 {
  65 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  66     char buf[42];
  67     _mav_put_uint64_t(buf, 0, time_usec);
  68     _mav_put_float(buf, 8, roll_ailerons);
  69     _mav_put_float(buf, 12, pitch_elevator);
  70     _mav_put_float(buf, 16, yaw_rudder);
  71     _mav_put_float(buf, 20, throttle);
  72     _mav_put_float(buf, 24, aux1);
  73     _mav_put_float(buf, 28, aux2);
  74     _mav_put_float(buf, 32, aux3);
  75     _mav_put_float(buf, 36, aux4);
  76     _mav_put_uint8_t(buf, 40, mode);
  77     _mav_put_uint8_t(buf, 41, nav_mode);
  78
  79     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42);
  80 #else
  81     mavlink_hil_controls_t packet;
  82     packet.time_usec      = time_usec;
  83     packet.roll_ailerons  = roll_ailerons;
  84     packet.pitch_elevator = pitch_elevator;
  85     packet.yaw_rudder     = yaw_rudder;
  86     packet.throttle = throttle;
  87     packet.aux1     = aux1;
  88     packet.aux2     = aux2;
  89     packet.aux3     = aux3;
  90     packet.aux4     = aux4;
  91     packet.mode     = mode;
  92     packet.nav_mode = nav_mode;
  93
  94     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42);
  95 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  96
  97     msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
  98     return mavlink_finalize_message(msg, system_id, component_id, 42, 63);
  99 }
 100
 101 /**
 102  * @brief Pack a hil_controls message on a channel
 103  * @param system_id ID of this system
 104  * @param component_id ID of this component (e.g. 200 for IMU)
 105  * @param chan The MAVLink channel this message was sent over
 106  * @param msg The MAVLink message to compress the data into
 107  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 108  * @param roll_ailerons Control output -1 .. 1
 109  * @param pitch_elevator Control output -1 .. 1
 110  * @param yaw_rudder Control output -1 .. 1
 111  * @param throttle Throttle 0 .. 1
 112  * @param aux1 Aux 1, -1 .. 1
 113  * @param aux2 Aux 2, -1 .. 1
 114  * @param aux3 Aux 3, -1 .. 1
 115  * @param aux4 Aux 4, -1 .. 1
 116  * @param mode System mode (MAV_MODE)
 117  * @param nav_mode Navigation mode (MAV_NAV_MODE)
 118  * @return length of the message in bytes (excluding serial stream start sign)
 119  */
 120 static inline uint16_t mavlink_msg_hil_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 121                                                           mavlink_message_t *msg,
 122                                                           uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
 123 {
 124 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 125     char buf[42];
 126     _mav_put_uint64_t(buf, 0, time_usec);
 127     _mav_put_float(buf, 8, roll_ailerons);
 128     _mav_put_float(buf, 12, pitch_elevator);
 129     _mav_put_float(buf, 16, yaw_rudder);
 130     _mav_put_float(buf, 20, throttle);
 131     _mav_put_float(buf, 24, aux1);
 132     _mav_put_float(buf, 28, aux2);
 133     _mav_put_float(buf, 32, aux3);
 134     _mav_put_float(buf, 36, aux4);
 135     _mav_put_uint8_t(buf, 40, mode);
 136     _mav_put_uint8_t(buf, 41, nav_mode);
 137
 138     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 42);
 139 #else
 140     mavlink_hil_controls_t packet;
 141     packet.time_usec      = time_usec;
 142     packet.roll_ailerons  = roll_ailerons;
 143     packet.pitch_elevator = pitch_elevator;
 144     packet.yaw_rudder     = yaw_rudder;
 145     packet.throttle = throttle;
 146     packet.aux1     = aux1;
 147     packet.aux2     = aux2;
 148     packet.aux3     = aux3;
 149     packet.aux4     = aux4;
 150     packet.mode     = mode;
 151     packet.nav_mode = nav_mode;
 152
 153     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 42);
 154 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 155
 156     msg->msgid = MAVLINK_MSG_ID_HIL_CONTROLS;
 157     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 42, 63);
 158 }
 159
 160 /**
 161  * @brief Encode a hil_controls struct into a message
 162  *
 163  * @param system_id ID of this system
 164  * @param component_id ID of this component (e.g. 200 for IMU)
 165  * @param msg The MAVLink message to compress the data into
 166  * @param hil_controls C-struct to read the message contents from
 167  */
 168 static inline uint16_t mavlink_msg_hil_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_hil_controls_t *hil_controls)
 169 {
 170     return mavlink_msg_hil_controls_pack(system_id, component_id, msg, hil_controls->time_usec, hil_controls->roll_ailerons, hil_controls->pitch_elevator, hil_controls->yaw_rudder, hil_controls->throttle, hil_controls->aux1, hil_controls->aux2, hil_controls->aux3, hil_controls->aux4, hil_controls->mode, hil_controls->nav_mode);
 171 }
 172
 173 /**
 174  * @brief Send a hil_controls message
 175  * @param chan MAVLink channel to send the message
 176  *
 177  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 178  * @param roll_ailerons Control output -1 .. 1
 179  * @param pitch_elevator Control output -1 .. 1
 180  * @param yaw_rudder Control output -1 .. 1
 181  * @param throttle Throttle 0 .. 1
 182  * @param aux1 Aux 1, -1 .. 1
 183  * @param aux2 Aux 2, -1 .. 1
 184  * @param aux3 Aux 3, -1 .. 1
 185  * @param aux4 Aux 4, -1 .. 1
 186  * @param mode System mode (MAV_MODE)
 187  * @param nav_mode Navigation mode (MAV_NAV_MODE)
 188  */
 189 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 190
 191 static inline void mavlink_msg_hil_controls_send(mavlink_channel_t chan, uint64_t time_usec, float roll_ailerons, float pitch_elevator, float yaw_rudder, float throttle, float aux1, float aux2, float aux3, float aux4, uint8_t mode, uint8_t nav_mode)
 192 {
 193 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 194     char buf[42];
 195     _mav_put_uint64_t(buf, 0, time_usec);
 196     _mav_put_float(buf, 8, roll_ailerons);
 197     _mav_put_float(buf, 12, pitch_elevator);
 198     _mav_put_float(buf, 16, yaw_rudder);
 199     _mav_put_float(buf, 20, throttle);
 200     _mav_put_float(buf, 24, aux1);
 201     _mav_put_float(buf, 28, aux2);
 202     _mav_put_float(buf, 32, aux3);
 203     _mav_put_float(buf, 36, aux4);
 204     _mav_put_uint8_t(buf, 40, mode);
 205     _mav_put_uint8_t(buf, 41, nav_mode);
 206
 207     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, buf, 42, 63);
 208 #else
 209     mavlink_hil_controls_t packet;
 210     packet.time_usec      = time_usec;
 211     packet.roll_ailerons  = roll_ailerons;
 212     packet.pitch_elevator = pitch_elevator;
 213     packet.yaw_rudder     = yaw_rudder;
 214     packet.throttle = throttle;
 215     packet.aux1     = aux1;
 216     packet.aux2     = aux2;
 217     packet.aux3     = aux3;
 218     packet.aux4     = aux4;
 219     packet.mode     = mode;
 220     packet.nav_mode = nav_mode;
 221
 222     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_CONTROLS, (const char *)&packet, 42, 63);
 223 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 224 }
 225
 226 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 227
 228 // MESSAGE HIL_CONTROLS UNPACKING
 229
 230
 231 /**
 232  * @brief Get field time_usec from hil_controls message
 233  *
 234  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 235  */
 236 static inline uint64_t mavlink_msg_hil_controls_get_time_usec(const mavlink_message_t *msg)
 237 {
 238     return _MAV_RETURN_uint64_t(msg, 0);
 239 }
 240
 241 /**
 242  * @brief Get field roll_ailerons from hil_controls message
 243  *
 244  * @return Control output -1 .. 1
 245  */
 246 static inline float mavlink_msg_hil_controls_get_roll_ailerons(const mavlink_message_t *msg)
 247 {
 248     return _MAV_RETURN_float(msg, 8);
 249 }
 250
 251 /**
 252  * @brief Get field pitch_elevator from hil_controls message
 253  *
 254  * @return Control output -1 .. 1
 255  */
 256 static inline float mavlink_msg_hil_controls_get_pitch_elevator(const mavlink_message_t *msg)
 257 {
 258     return _MAV_RETURN_float(msg, 12);
 259 }
 260
 261 /**
 262  * @brief Get field yaw_rudder from hil_controls message
 263  *
 264  * @return Control output -1 .. 1
 265  */
 266 static inline float mavlink_msg_hil_controls_get_yaw_rudder(const mavlink_message_t *msg)
 267 {
 268     return _MAV_RETURN_float(msg, 16);
 269 }
 270
 271 /**
 272  * @brief Get field throttle from hil_controls message
 273  *
 274  * @return Throttle 0 .. 1
 275  */
 276 static inline float mavlink_msg_hil_controls_get_throttle(const mavlink_message_t *msg)
 277 {
 278     return _MAV_RETURN_float(msg, 20);
 279 }
 280
 281 /**
 282  * @brief Get field aux1 from hil_controls message
 283  *
 284  * @return Aux 1, -1 .. 1
 285  */
 286 static inline float mavlink_msg_hil_controls_get_aux1(const mavlink_message_t *msg)
 287 {
 288     return _MAV_RETURN_float(msg, 24);
 289 }
 290
 291 /**
 292  * @brief Get field aux2 from hil_controls message
 293  *
 294  * @return Aux 2, -1 .. 1
 295  */
 296 static inline float mavlink_msg_hil_controls_get_aux2(const mavlink_message_t *msg)
 297 {
 298     return _MAV_RETURN_float(msg, 28);
 299 }
 300
 301 /**
 302  * @brief Get field aux3 from hil_controls message
 303  *
 304  * @return Aux 3, -1 .. 1
 305  */
 306 static inline float mavlink_msg_hil_controls_get_aux3(const mavlink_message_t *msg)
 307 {
 308     return _MAV_RETURN_float(msg, 32);
 309 }
 310
 311 /**
 312  * @brief Get field aux4 from hil_controls message
 313  *
 314  * @return Aux 4, -1 .. 1
 315  */
 316 static inline float mavlink_msg_hil_controls_get_aux4(const mavlink_message_t *msg)
 317 {
 318     return _MAV_RETURN_float(msg, 36);
 319 }
 320
 321 /**
 322  * @brief Get field mode from hil_controls message
 323  *
 324  * @return System mode (MAV_MODE)
 325  */
 326 static inline uint8_t mavlink_msg_hil_controls_get_mode(const mavlink_message_t *msg)
 327 {
 328     return _MAV_RETURN_uint8_t(msg, 40);
 329 }
 330
 331 /**
 332  * @brief Get field nav_mode from hil_controls message
 333  *
 334  * @return Navigation mode (MAV_NAV_MODE)
 335  */
 336 static inline uint8_t mavlink_msg_hil_controls_get_nav_mode(const mavlink_message_t *msg)
 337 {
 338     return _MAV_RETURN_uint8_t(msg, 41);
 339 }
 340
 341 /**
 342  * @brief Decode a hil_controls message into a struct
 343  *
 344  * @param msg The message to decode
 345  * @param hil_controls C-struct to decode the message contents into
 346  */
 347 static inline void mavlink_msg_hil_controls_decode(const mavlink_message_t *msg, mavlink_hil_controls_t *hil_controls)
 348 {
 349 #if MAVLINK_NEED_BYTE_SWAP
 350     hil_controls->time_usec      = mavlink_msg_hil_controls_get_time_usec(msg);
 351     hil_controls->roll_ailerons  = mavlink_msg_hil_controls_get_roll_ailerons(msg);
 352     hil_controls->pitch_elevator = mavlink_msg_hil_controls_get_pitch_elevator(msg);
 353     hil_controls->yaw_rudder     = mavlink_msg_hil_controls_get_yaw_rudder(msg);
 354     hil_controls->throttle = mavlink_msg_hil_controls_get_throttle(msg);
 355     hil_controls->aux1     = mavlink_msg_hil_controls_get_aux1(msg);
 356     hil_controls->aux2     = mavlink_msg_hil_controls_get_aux2(msg);
 357     hil_controls->aux3     = mavlink_msg_hil_controls_get_aux3(msg);
 358     hil_controls->aux4     = mavlink_msg_hil_controls_get_aux4(msg);
 359     hil_controls->mode     = mavlink_msg_hil_controls_get_mode(msg);
 360     hil_controls->nav_mode = mavlink_msg_hil_controls_get_nav_mode(msg);
 361 #else
 362     memcpy(hil_controls, _MAV_PAYLOAD(msg), 42);
 363 #endif
 364 }