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

   1 // MESSAGE LOCAL_POSITION_SETPOINT PACKING
   2
   3 #define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT 51
   4
   5 typedef struct __mavlink_local_position_setpoint_t {
   6     float   x; ///< x position
   7     float   y; ///< y position
   8     float   z; ///< z position
   9     float   yaw; ///< Desired yaw angle
  10     uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
  11 } mavlink_local_position_setpoint_t;
  12
  13 #define MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_LEN 17
  14 #define MAVLINK_MSG_ID_51_LEN                      17
  15
  16
  17 #define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_SETPOINT \
  18     { \
  19         "LOCAL_POSITION_SETPOINT", \
  20         5, \
  21         { \
  22             { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_local_position_setpoint_t, x) }, \
  23             { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_setpoint_t, y) }, \
  24             { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_setpoint_t, z) }, \
  25             { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_setpoint_t, yaw) }, \
  26             { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_local_position_setpoint_t, coordinate_frame) }, \
  27         } \
  28     }
  29
  30
  31 /**
  32  * @brief Pack a local_position_setpoint message
  33  * @param system_id ID of this system
  34  * @param component_id ID of this component (e.g. 200 for IMU)
  35  * @param msg The MAVLink message to compress the data into
  36  *
  37  * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
  38  * @param x x position
  39  * @param y y position
  40  * @param z z position
  41  * @param yaw Desired yaw angle
  42  * @return length of the message in bytes (excluding serial stream start sign)
  43  */
  44 static inline uint16_t mavlink_msg_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  45                                                                 uint8_t coordinate_frame, float x, float y, float z, float yaw)
  46 {
  47 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  48     char buf[17];
  49     _mav_put_float(buf, 0, x);
  50     _mav_put_float(buf, 4, y);
  51     _mav_put_float(buf, 8, z);
  52     _mav_put_float(buf, 12, yaw);
  53     _mav_put_uint8_t(buf, 16, coordinate_frame);
  54
  55     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 17);
  56 #else
  57     mavlink_local_position_setpoint_t packet;
  58     packet.x   = x;
  59     packet.y   = y;
  60     packet.z   = z;
  61     packet.yaw = yaw;
  62     packet.coordinate_frame = coordinate_frame;
  63
  64     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 17);
  65 #endif
  66
  67     msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
  68     return mavlink_finalize_message(msg, system_id, component_id, 17, 223);
  69 }
  70
  71 /**
  72  * @brief Pack a local_position_setpoint message on a channel
  73  * @param system_id ID of this system
  74  * @param component_id ID of this component (e.g. 200 for IMU)
  75  * @param chan The MAVLink channel this message was sent over
  76  * @param msg The MAVLink message to compress the data into
  77  * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
  78  * @param x x position
  79  * @param y y position
  80  * @param z z position
  81  * @param yaw Desired yaw angle
  82  * @return length of the message in bytes (excluding serial stream start sign)
  83  */
  84 static inline uint16_t mavlink_msg_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  85                                                                      mavlink_message_t *msg,
  86                                                                      uint8_t coordinate_frame, float x, float y, float z, float yaw)
  87 {
  88 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  89     char buf[17];
  90     _mav_put_float(buf, 0, x);
  91     _mav_put_float(buf, 4, y);
  92     _mav_put_float(buf, 8, z);
  93     _mav_put_float(buf, 12, yaw);
  94     _mav_put_uint8_t(buf, 16, coordinate_frame);
  95
  96     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 17);
  97 #else
  98     mavlink_local_position_setpoint_t packet;
  99     packet.x   = x;
 100     packet.y   = y;
 101     packet.z   = z;
 102     packet.yaw = yaw;
 103     packet.coordinate_frame = coordinate_frame;
 104
 105     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 17);
 106 #endif
 107
 108     msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT;
 109     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 17, 223);
 110 }
 111
 112 /**
 113  * @brief Encode a local_position_setpoint struct into a message
 114  *
 115  * @param system_id ID of this system
 116  * @param component_id ID of this component (e.g. 200 for IMU)
 117  * @param msg The MAVLink message to compress the data into
 118  * @param local_position_setpoint C-struct to read the message contents from
 119  */
 120 static inline uint16_t mavlink_msg_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_local_position_setpoint_t *local_position_setpoint)
 121 {
 122     return mavlink_msg_local_position_setpoint_pack(system_id, component_id, msg, local_position_setpoint->coordinate_frame, local_position_setpoint->x, local_position_setpoint->y, local_position_setpoint->z, local_position_setpoint->yaw);
 123 }
 124
 125 /**
 126  * @brief Send a local_position_setpoint message
 127  * @param chan MAVLink channel to send the message
 128  *
 129  * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
 130  * @param x x position
 131  * @param y y position
 132  * @param z z position
 133  * @param yaw Desired yaw angle
 134  */
 135 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 136
 137 static inline void mavlink_msg_local_position_setpoint_send(mavlink_channel_t chan, uint8_t coordinate_frame, float x, float y, float z, float yaw)
 138 {
 139 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 140     char buf[17];
 141     _mav_put_float(buf, 0, x);
 142     _mav_put_float(buf, 4, y);
 143     _mav_put_float(buf, 8, z);
 144     _mav_put_float(buf, 12, yaw);
 145     _mav_put_uint8_t(buf, 16, coordinate_frame);
 146
 147     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, buf, 17, 223);
 148 #else
 149     mavlink_local_position_setpoint_t packet;
 150     packet.x   = x;
 151     packet.y   = y;
 152     packet.z   = z;
 153     packet.yaw = yaw;
 154     packet.coordinate_frame = coordinate_frame;
 155
 156     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT, (const char *)&packet, 17, 223);
 157 #endif
 158 }
 159
 160 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 161
 162 // MESSAGE LOCAL_POSITION_SETPOINT UNPACKING
 163
 164
 165 /**
 166  * @brief Get field coordinate_frame from local_position_setpoint message
 167  *
 168  * @return Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
 169  */
 170 static inline uint8_t mavlink_msg_local_position_setpoint_get_coordinate_frame(const mavlink_message_t *msg)
 171 {
 172     return _MAV_RETURN_uint8_t(msg, 16);
 173 }
 174
 175 /**
 176  * @brief Get field x from local_position_setpoint message
 177  *
 178  * @return x position
 179  */
 180 static inline float mavlink_msg_local_position_setpoint_get_x(const mavlink_message_t *msg)
 181 {
 182     return _MAV_RETURN_float(msg, 0);
 183 }
 184
 185 /**
 186  * @brief Get field y from local_position_setpoint message
 187  *
 188  * @return y position
 189  */
 190 static inline float mavlink_msg_local_position_setpoint_get_y(const mavlink_message_t *msg)
 191 {
 192     return _MAV_RETURN_float(msg, 4);
 193 }
 194
 195 /**
 196  * @brief Get field z from local_position_setpoint message
 197  *
 198  * @return z position
 199  */
 200 static inline float mavlink_msg_local_position_setpoint_get_z(const mavlink_message_t *msg)
 201 {
 202     return _MAV_RETURN_float(msg, 8);
 203 }
 204
 205 /**
 206  * @brief Get field yaw from local_position_setpoint message
 207  *
 208  * @return Desired yaw angle
 209  */
 210 static inline float mavlink_msg_local_position_setpoint_get_yaw(const mavlink_message_t *msg)
 211 {
 212     return _MAV_RETURN_float(msg, 12);
 213 }
 214
 215 /**
 216  * @brief Decode a local_position_setpoint message into a struct
 217  *
 218  * @param msg The message to decode
 219  * @param local_position_setpoint C-struct to decode the message contents into
 220  */
 221 static inline void mavlink_msg_local_position_setpoint_decode(const mavlink_message_t *msg, mavlink_local_position_setpoint_t *local_position_setpoint)
 222 {
 223 #if MAVLINK_NEED_BYTE_SWAP
 224     local_position_setpoint->x   = mavlink_msg_local_position_setpoint_get_x(msg);
 225     local_position_setpoint->y   = mavlink_msg_local_position_setpoint_get_y(msg);
 226     local_position_setpoint->z   = mavlink_msg_local_position_setpoint_get_z(msg);
 227     local_position_setpoint->yaw = mavlink_msg_local_position_setpoint_get_yaw(msg);
 228     local_position_setpoint->coordinate_frame = mavlink_msg_local_position_setpoint_get_coordinate_frame(msg);
 229 #else
 230     memcpy(local_position_setpoint, _MAV_PAYLOAD(msg), 17);
 231 #endif
 232 }