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

   1 // MESSAGE NAV_CONTROLLER_OUTPUT PACKING
   2
   3 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT 62
   4
   5 typedef struct __mavlink_nav_controller_output_t {
   6     float    nav_roll; ///< Current desired roll in degrees
   7     float    nav_pitch; ///< Current desired pitch in degrees
   8     float    alt_error; ///< Current altitude error in meters
   9     float    aspd_error; ///< Current airspeed error in meters/second
  10     float    xtrack_error; ///< Current crosstrack error on x-y plane in meters
  11     int16_t  nav_bearing; ///< Current desired heading in degrees
  12     int16_t  target_bearing; ///< Bearing to current MISSION/target in degrees
  13     uint16_t wp_dist; ///< Distance to active MISSION in meters
  14 } mavlink_nav_controller_output_t;
  15
  16 #define MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT_LEN 26
  17 #define MAVLINK_MSG_ID_62_LEN                    26
  18
  19
  20 #define MAVLINK_MESSAGE_INFO_NAV_CONTROLLER_OUTPUT \
  21     { \
  22         "NAV_CONTROLLER_OUTPUT", \
  23         8, \
  24         { \
  25             { "nav_roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_nav_controller_output_t, nav_roll) }, \
  26             { "nav_pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_nav_controller_output_t, nav_pitch) }, \
  27             { "alt_error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_controller_output_t, alt_error) }, \
  28             { "aspd_error", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_controller_output_t, aspd_error) }, \
  29             { "xtrack_error", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_controller_output_t, xtrack_error) }, \
  30             { "nav_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_nav_controller_output_t, nav_bearing) }, \
  31             { "target_bearing", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_nav_controller_output_t, target_bearing) }, \
  32             { "wp_dist", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_nav_controller_output_t, wp_dist) }, \
  33         } \
  34     }
  35
  36
  37 /**
  38  * @brief Pack a nav_controller_output message
  39  * @param system_id ID of this system
  40  * @param component_id ID of this component (e.g. 200 for IMU)
  41  * @param msg The MAVLink message to compress the data into
  42  *
  43  * @param nav_roll Current desired roll in degrees
  44  * @param nav_pitch Current desired pitch in degrees
  45  * @param nav_bearing Current desired heading in degrees
  46  * @param target_bearing Bearing to current MISSION/target in degrees
  47  * @param wp_dist Distance to active MISSION in meters
  48  * @param alt_error Current altitude error in meters
  49  * @param aspd_error Current airspeed error in meters/second
  50  * @param xtrack_error Current crosstrack error on x-y plane in meters
  51  * @return length of the message in bytes (excluding serial stream start sign)
  52  */
  53 static inline uint16_t mavlink_msg_nav_controller_output_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  54                                                               float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
  55 {
  56 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  57     char buf[26];
  58     _mav_put_float(buf, 0, nav_roll);
  59     _mav_put_float(buf, 4, nav_pitch);
  60     _mav_put_float(buf, 8, alt_error);
  61     _mav_put_float(buf, 12, aspd_error);
  62     _mav_put_float(buf, 16, xtrack_error);
  63     _mav_put_int16_t(buf, 20, nav_bearing);
  64     _mav_put_int16_t(buf, 22, target_bearing);
  65     _mav_put_uint16_t(buf, 24, wp_dist);
  66
  67     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
  68 #else
  69     mavlink_nav_controller_output_t packet;
  70     packet.nav_roll       = nav_roll;
  71     packet.nav_pitch      = nav_pitch;
  72     packet.alt_error      = alt_error;
  73     packet.aspd_error     = aspd_error;
  74     packet.xtrack_error   = xtrack_error;
  75     packet.nav_bearing    = nav_bearing;
  76     packet.target_bearing = target_bearing;
  77     packet.wp_dist = wp_dist;
  78
  79     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
  80 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  81
  82     msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
  83     return mavlink_finalize_message(msg, system_id, component_id, 26, 183);
  84 }
  85
  86 /**
  87  * @brief Pack a nav_controller_output message on a channel
  88  * @param system_id ID of this system
  89  * @param component_id ID of this component (e.g. 200 for IMU)
  90  * @param chan The MAVLink channel this message was sent over
  91  * @param msg The MAVLink message to compress the data into
  92  * @param nav_roll Current desired roll in degrees
  93  * @param nav_pitch Current desired pitch in degrees
  94  * @param nav_bearing Current desired heading in degrees
  95  * @param target_bearing Bearing to current MISSION/target in degrees
  96  * @param wp_dist Distance to active MISSION in meters
  97  * @param alt_error Current altitude error in meters
  98  * @param aspd_error Current airspeed error in meters/second
  99  * @param xtrack_error Current crosstrack error on x-y plane in meters
 100  * @return length of the message in bytes (excluding serial stream start sign)
 101  */
 102 static inline uint16_t mavlink_msg_nav_controller_output_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 103                                                                    mavlink_message_t *msg,
 104                                                                    float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
 105 {
 106 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 107     char buf[26];
 108     _mav_put_float(buf, 0, nav_roll);
 109     _mav_put_float(buf, 4, nav_pitch);
 110     _mav_put_float(buf, 8, alt_error);
 111     _mav_put_float(buf, 12, aspd_error);
 112     _mav_put_float(buf, 16, xtrack_error);
 113     _mav_put_int16_t(buf, 20, nav_bearing);
 114     _mav_put_int16_t(buf, 22, target_bearing);
 115     _mav_put_uint16_t(buf, 24, wp_dist);
 116
 117     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
 118 #else
 119     mavlink_nav_controller_output_t packet;
 120     packet.nav_roll       = nav_roll;
 121     packet.nav_pitch      = nav_pitch;
 122     packet.alt_error      = alt_error;
 123     packet.aspd_error     = aspd_error;
 124     packet.xtrack_error   = xtrack_error;
 125     packet.nav_bearing    = nav_bearing;
 126     packet.target_bearing = target_bearing;
 127     packet.wp_dist = wp_dist;
 128
 129     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
 130 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 131
 132     msg->msgid = MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT;
 133     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 183);
 134 }
 135
 136 /**
 137  * @brief Encode a nav_controller_output struct into a message
 138  *
 139  * @param system_id ID of this system
 140  * @param component_id ID of this component (e.g. 200 for IMU)
 141  * @param msg The MAVLink message to compress the data into
 142  * @param nav_controller_output C-struct to read the message contents from
 143  */
 144 static inline uint16_t mavlink_msg_nav_controller_output_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_nav_controller_output_t *nav_controller_output)
 145 {
 146     return mavlink_msg_nav_controller_output_pack(system_id, component_id, msg, nav_controller_output->nav_roll, nav_controller_output->nav_pitch, nav_controller_output->nav_bearing, nav_controller_output->target_bearing, nav_controller_output->wp_dist, nav_controller_output->alt_error, nav_controller_output->aspd_error, nav_controller_output->xtrack_error);
 147 }
 148
 149 /**
 150  * @brief Send a nav_controller_output message
 151  * @param chan MAVLink channel to send the message
 152  *
 153  * @param nav_roll Current desired roll in degrees
 154  * @param nav_pitch Current desired pitch in degrees
 155  * @param nav_bearing Current desired heading in degrees
 156  * @param target_bearing Bearing to current MISSION/target in degrees
 157  * @param wp_dist Distance to active MISSION in meters
 158  * @param alt_error Current altitude error in meters
 159  * @param aspd_error Current airspeed error in meters/second
 160  * @param xtrack_error Current crosstrack error on x-y plane in meters
 161  */
 162 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 163
 164 static inline void mavlink_msg_nav_controller_output_send(mavlink_channel_t chan, float nav_roll, float nav_pitch, int16_t nav_bearing, int16_t target_bearing, uint16_t wp_dist, float alt_error, float aspd_error, float xtrack_error)
 165 {
 166 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 167     char buf[26];
 168     _mav_put_float(buf, 0, nav_roll);
 169     _mav_put_float(buf, 4, nav_pitch);
 170     _mav_put_float(buf, 8, alt_error);
 171     _mav_put_float(buf, 12, aspd_error);
 172     _mav_put_float(buf, 16, xtrack_error);
 173     _mav_put_int16_t(buf, 20, nav_bearing);
 174     _mav_put_int16_t(buf, 22, target_bearing);
 175     _mav_put_uint16_t(buf, 24, wp_dist);
 176
 177     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, buf, 26, 183);
 178 #else
 179     mavlink_nav_controller_output_t packet;
 180     packet.nav_roll       = nav_roll;
 181     packet.nav_pitch      = nav_pitch;
 182     packet.alt_error      = alt_error;
 183     packet.aspd_error     = aspd_error;
 184     packet.xtrack_error   = xtrack_error;
 185     packet.nav_bearing    = nav_bearing;
 186     packet.target_bearing = target_bearing;
 187     packet.wp_dist = wp_dist;
 188
 189     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT, (const char *)&packet, 26, 183);
 190 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 191 }
 192
 193 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 194
 195 // MESSAGE NAV_CONTROLLER_OUTPUT UNPACKING
 196
 197
 198 /**
 199  * @brief Get field nav_roll from nav_controller_output message
 200  *
 201  * @return Current desired roll in degrees
 202  */
 203 static inline float mavlink_msg_nav_controller_output_get_nav_roll(const mavlink_message_t *msg)
 204 {
 205     return _MAV_RETURN_float(msg, 0);
 206 }
 207
 208 /**
 209  * @brief Get field nav_pitch from nav_controller_output message
 210  *
 211  * @return Current desired pitch in degrees
 212  */
 213 static inline float mavlink_msg_nav_controller_output_get_nav_pitch(const mavlink_message_t *msg)
 214 {
 215     return _MAV_RETURN_float(msg, 4);
 216 }
 217
 218 /**
 219  * @brief Get field nav_bearing from nav_controller_output message
 220  *
 221  * @return Current desired heading in degrees
 222  */
 223 static inline int16_t mavlink_msg_nav_controller_output_get_nav_bearing(const mavlink_message_t *msg)
 224 {
 225     return _MAV_RETURN_int16_t(msg, 20);
 226 }
 227
 228 /**
 229  * @brief Get field target_bearing from nav_controller_output message
 230  *
 231  * @return Bearing to current MISSION/target in degrees
 232  */
 233 static inline int16_t mavlink_msg_nav_controller_output_get_target_bearing(const mavlink_message_t *msg)
 234 {
 235     return _MAV_RETURN_int16_t(msg, 22);
 236 }
 237
 238 /**
 239  * @brief Get field wp_dist from nav_controller_output message
 240  *
 241  * @return Distance to active MISSION in meters
 242  */
 243 static inline uint16_t mavlink_msg_nav_controller_output_get_wp_dist(const mavlink_message_t *msg)
 244 {
 245     return _MAV_RETURN_uint16_t(msg, 24);
 246 }
 247
 248 /**
 249  * @brief Get field alt_error from nav_controller_output message
 250  *
 251  * @return Current altitude error in meters
 252  */
 253 static inline float mavlink_msg_nav_controller_output_get_alt_error(const mavlink_message_t *msg)
 254 {
 255     return _MAV_RETURN_float(msg, 8);
 256 }
 257
 258 /**
 259  * @brief Get field aspd_error from nav_controller_output message
 260  *
 261  * @return Current airspeed error in meters/second
 262  */
 263 static inline float mavlink_msg_nav_controller_output_get_aspd_error(const mavlink_message_t *msg)
 264 {
 265     return _MAV_RETURN_float(msg, 12);
 266 }
 267
 268 /**
 269  * @brief Get field xtrack_error from nav_controller_output message
 270  *
 271  * @return Current crosstrack error on x-y plane in meters
 272  */
 273 static inline float mavlink_msg_nav_controller_output_get_xtrack_error(const mavlink_message_t *msg)
 274 {
 275     return _MAV_RETURN_float(msg, 16);
 276 }
 277
 278 /**
 279  * @brief Decode a nav_controller_output message into a struct
 280  *
 281  * @param msg The message to decode
 282  * @param nav_controller_output C-struct to decode the message contents into
 283  */
 284 static inline void mavlink_msg_nav_controller_output_decode(const mavlink_message_t *msg, mavlink_nav_controller_output_t *nav_controller_output)
 285 {
 286 #if MAVLINK_NEED_BYTE_SWAP
 287     nav_controller_output->nav_roll       = mavlink_msg_nav_controller_output_get_nav_roll(msg);
 288     nav_controller_output->nav_pitch      = mavlink_msg_nav_controller_output_get_nav_pitch(msg);
 289     nav_controller_output->alt_error      = mavlink_msg_nav_controller_output_get_alt_error(msg);
 290     nav_controller_output->aspd_error     = mavlink_msg_nav_controller_output_get_aspd_error(msg);
 291     nav_controller_output->xtrack_error   = mavlink_msg_nav_controller_output_get_xtrack_error(msg);
 292     nav_controller_output->nav_bearing    = mavlink_msg_nav_controller_output_get_nav_bearing(msg);
 293     nav_controller_output->target_bearing = mavlink_msg_nav_controller_output_get_target_bearing(msg);
 294     nav_controller_output->wp_dist = mavlink_msg_nav_controller_output_get_wp_dist(msg);
 295 #else
 296     memcpy(nav_controller_output, _MAV_PAYLOAD(msg), 26);
 297 #endif
 298 }