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

   1 // MESSAGE SET_LOCAL_POSITION_SETPOINT PACKING
   2
   3 #define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT 50
   4
   5 typedef struct __mavlink_set_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 target_system; ///< System ID
  11     uint8_t target_component; ///< Component ID
  12     uint8_t coordinate_frame; ///< Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
  13 } mavlink_set_local_position_setpoint_t;
  14
  15 #define MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT_LEN 19
  16 #define MAVLINK_MSG_ID_50_LEN                          19
  17
  18
  19 #define MAVLINK_MESSAGE_INFO_SET_LOCAL_POSITION_SETPOINT \
  20     { \
  21         "SET_LOCAL_POSITION_SETPOINT", \
  22         7, \
  23         { \
  24             { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_local_position_setpoint_t, x) }, \
  25             { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_local_position_setpoint_t, y) }, \
  26             { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_local_position_setpoint_t, z) }, \
  27             { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_local_position_setpoint_t, yaw) }, \
  28             { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 16, offsetof(mavlink_set_local_position_setpoint_t, target_system) }, \
  29             { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 17, offsetof(mavlink_set_local_position_setpoint_t, target_component) }, \
  30             { "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 18, offsetof(mavlink_set_local_position_setpoint_t, coordinate_frame) }, \
  31         } \
  32     }
  33
  34
  35 /**
  36  * @brief Pack a set_local_position_setpoint message
  37  * @param system_id ID of this system
  38  * @param component_id ID of this component (e.g. 200 for IMU)
  39  * @param msg The MAVLink message to compress the data into
  40  *
  41  * @param target_system System ID
  42  * @param target_component Component ID
  43  * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
  44  * @param x x position
  45  * @param y y position
  46  * @param z z position
  47  * @param yaw Desired yaw angle
  48  * @return length of the message in bytes (excluding serial stream start sign)
  49  */
  50 static inline uint16_t mavlink_msg_set_local_position_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  51                                                                     uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw)
  52 {
  53 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  54     char buf[19];
  55     _mav_put_float(buf, 0, x);
  56     _mav_put_float(buf, 4, y);
  57     _mav_put_float(buf, 8, z);
  58     _mav_put_float(buf, 12, yaw);
  59     _mav_put_uint8_t(buf, 16, target_system);
  60     _mav_put_uint8_t(buf, 17, target_component);
  61     _mav_put_uint8_t(buf, 18, coordinate_frame);
  62
  63     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 19);
  64 #else
  65     mavlink_set_local_position_setpoint_t packet;
  66     packet.x   = x;
  67     packet.y   = y;
  68     packet.z   = z;
  69     packet.yaw = yaw;
  70     packet.target_system    = target_system;
  71     packet.target_component = target_component;
  72     packet.coordinate_frame = coordinate_frame;
  73
  74     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 19);
  75 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  76
  77     msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT;
  78     return mavlink_finalize_message(msg, system_id, component_id, 19, 214);
  79 }
  80
  81 /**
  82  * @brief Pack a set_local_position_setpoint message on a channel
  83  * @param system_id ID of this system
  84  * @param component_id ID of this component (e.g. 200 for IMU)
  85  * @param chan The MAVLink channel this message was sent over
  86  * @param msg The MAVLink message to compress the data into
  87  * @param target_system System ID
  88  * @param target_component Component ID
  89  * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
  90  * @param x x position
  91  * @param y y position
  92  * @param z z position
  93  * @param yaw Desired yaw angle
  94  * @return length of the message in bytes (excluding serial stream start sign)
  95  */
  96 static inline uint16_t mavlink_msg_set_local_position_setpoint_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  97                                                                          mavlink_message_t *msg,
  98                                                                          uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw)
  99 {
 100 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 101     char buf[19];
 102     _mav_put_float(buf, 0, x);
 103     _mav_put_float(buf, 4, y);
 104     _mav_put_float(buf, 8, z);
 105     _mav_put_float(buf, 12, yaw);
 106     _mav_put_uint8_t(buf, 16, target_system);
 107     _mav_put_uint8_t(buf, 17, target_component);
 108     _mav_put_uint8_t(buf, 18, coordinate_frame);
 109
 110     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 19);
 111 #else
 112     mavlink_set_local_position_setpoint_t packet;
 113     packet.x   = x;
 114     packet.y   = y;
 115     packet.z   = z;
 116     packet.yaw = yaw;
 117     packet.target_system    = target_system;
 118     packet.target_component = target_component;
 119     packet.coordinate_frame = coordinate_frame;
 120
 121     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 19);
 122 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 123
 124     msg->msgid = MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT;
 125     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 19, 214);
 126 }
 127
 128 /**
 129  * @brief Encode a set_local_position_setpoint struct into a message
 130  *
 131  * @param system_id ID of this system
 132  * @param component_id ID of this component (e.g. 200 for IMU)
 133  * @param msg The MAVLink message to compress the data into
 134  * @param set_local_position_setpoint C-struct to read the message contents from
 135  */
 136 static inline uint16_t mavlink_msg_set_local_position_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_set_local_position_setpoint_t *set_local_position_setpoint)
 137 {
 138     return mavlink_msg_set_local_position_setpoint_pack(system_id, component_id, msg, set_local_position_setpoint->target_system, set_local_position_setpoint->target_component, set_local_position_setpoint->coordinate_frame, set_local_position_setpoint->x, set_local_position_setpoint->y, set_local_position_setpoint->z, set_local_position_setpoint->yaw);
 139 }
 140
 141 /**
 142  * @brief Send a set_local_position_setpoint message
 143  * @param chan MAVLink channel to send the message
 144  *
 145  * @param target_system System ID
 146  * @param target_component Component ID
 147  * @param coordinate_frame Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
 148  * @param x x position
 149  * @param y y position
 150  * @param z z position
 151  * @param yaw Desired yaw angle
 152  */
 153 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 154
 155 static inline void mavlink_msg_set_local_position_setpoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t coordinate_frame, float x, float y, float z, float yaw)
 156 {
 157 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 158     char buf[19];
 159     _mav_put_float(buf, 0, x);
 160     _mav_put_float(buf, 4, y);
 161     _mav_put_float(buf, 8, z);
 162     _mav_put_float(buf, 12, yaw);
 163     _mav_put_uint8_t(buf, 16, target_system);
 164     _mav_put_uint8_t(buf, 17, target_component);
 165     _mav_put_uint8_t(buf, 18, coordinate_frame);
 166
 167     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, buf, 19, 214);
 168 #else
 169     mavlink_set_local_position_setpoint_t packet;
 170     packet.x   = x;
 171     packet.y   = y;
 172     packet.z   = z;
 173     packet.yaw = yaw;
 174     packet.target_system    = target_system;
 175     packet.target_component = target_component;
 176     packet.coordinate_frame = coordinate_frame;
 177
 178     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT, (const char *)&packet, 19, 214);
 179 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 180 }
 181
 182 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 183
 184 // MESSAGE SET_LOCAL_POSITION_SETPOINT UNPACKING
 185
 186
 187 /**
 188  * @brief Get field target_system from set_local_position_setpoint message
 189  *
 190  * @return System ID
 191  */
 192 static inline uint8_t mavlink_msg_set_local_position_setpoint_get_target_system(const mavlink_message_t *msg)
 193 {
 194     return _MAV_RETURN_uint8_t(msg, 16);
 195 }
 196
 197 /**
 198  * @brief Get field target_component from set_local_position_setpoint message
 199  *
 200  * @return Component ID
 201  */
 202 static inline uint8_t mavlink_msg_set_local_position_setpoint_get_target_component(const mavlink_message_t *msg)
 203 {
 204     return _MAV_RETURN_uint8_t(msg, 17);
 205 }
 206
 207 /**
 208  * @brief Get field coordinate_frame from set_local_position_setpoint message
 209  *
 210  * @return Coordinate frame - valid values are only MAV_FRAME_LOCAL_NED or MAV_FRAME_LOCAL_ENU
 211  */
 212 static inline uint8_t mavlink_msg_set_local_position_setpoint_get_coordinate_frame(const mavlink_message_t *msg)
 213 {
 214     return _MAV_RETURN_uint8_t(msg, 18);
 215 }
 216
 217 /**
 218  * @brief Get field x from set_local_position_setpoint message
 219  *
 220  * @return x position
 221  */
 222 static inline float mavlink_msg_set_local_position_setpoint_get_x(const mavlink_message_t *msg)
 223 {
 224     return _MAV_RETURN_float(msg, 0);
 225 }
 226
 227 /**
 228  * @brief Get field y from set_local_position_setpoint message
 229  *
 230  * @return y position
 231  */
 232 static inline float mavlink_msg_set_local_position_setpoint_get_y(const mavlink_message_t *msg)
 233 {
 234     return _MAV_RETURN_float(msg, 4);
 235 }
 236
 237 /**
 238  * @brief Get field z from set_local_position_setpoint message
 239  *
 240  * @return z position
 241  */
 242 static inline float mavlink_msg_set_local_position_setpoint_get_z(const mavlink_message_t *msg)
 243 {
 244     return _MAV_RETURN_float(msg, 8);
 245 }
 246
 247 /**
 248  * @brief Get field yaw from set_local_position_setpoint message
 249  *
 250  * @return Desired yaw angle
 251  */
 252 static inline float mavlink_msg_set_local_position_setpoint_get_yaw(const mavlink_message_t *msg)
 253 {
 254     return _MAV_RETURN_float(msg, 12);
 255 }
 256
 257 /**
 258  * @brief Decode a set_local_position_setpoint message into a struct
 259  *
 260  * @param msg The message to decode
 261  * @param set_local_position_setpoint C-struct to decode the message contents into
 262  */
 263 static inline void mavlink_msg_set_local_position_setpoint_decode(const mavlink_message_t *msg, mavlink_set_local_position_setpoint_t *set_local_position_setpoint)
 264 {
 265 #if MAVLINK_NEED_BYTE_SWAP
 266     set_local_position_setpoint->x   = mavlink_msg_set_local_position_setpoint_get_x(msg);
 267     set_local_position_setpoint->y   = mavlink_msg_set_local_position_setpoint_get_y(msg);
 268     set_local_position_setpoint->z   = mavlink_msg_set_local_position_setpoint_get_z(msg);
 269     set_local_position_setpoint->yaw = mavlink_msg_set_local_position_setpoint_get_yaw(msg);
 270     set_local_position_setpoint->target_system    = mavlink_msg_set_local_position_setpoint_get_target_system(msg);
 271     set_local_position_setpoint->target_component = mavlink_msg_set_local_position_setpoint_get_target_component(msg);
 272     set_local_position_setpoint->coordinate_frame = mavlink_msg_set_local_position_setpoint_get_coordinate_frame(msg);
 273 #else
 274     memcpy(set_local_position_setpoint, _MAV_PAYLOAD(msg), 19);
 275 #endif
 276 }