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

   1 // MESSAGE SET_MODE PACKING
   2
   3 #define MAVLINK_MSG_ID_SET_MODE 11
   4
   5 typedef struct __mavlink_set_mode_t {
   6     uint32_t custom_mode; ///< The new autopilot-specific mode. This field can be ignored by an autopilot.
   7     uint8_t  target_system; ///< The system setting the mode
   8     uint8_t  base_mode; ///< The new base mode
   9 } mavlink_set_mode_t;
  10
  11 #define MAVLINK_MSG_ID_SET_MODE_LEN 6
  12 #define MAVLINK_MSG_ID_11_LEN       6
  13
  14
  15 #define MAVLINK_MESSAGE_INFO_SET_MODE \
  16     { \
  17         "SET_MODE", \
  18         3, \
  19         { \
  20             { "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_set_mode_t, custom_mode) }, \
  21             { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 4, offsetof(mavlink_set_mode_t, target_system) }, \
  22             { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 5, offsetof(mavlink_set_mode_t, base_mode) }, \
  23         } \
  24     }
  25
  26
  27 /**
  28  * @brief Pack a set_mode message
  29  * @param system_id ID of this system
  30  * @param component_id ID of this component (e.g. 200 for IMU)
  31  * @param msg The MAVLink message to compress the data into
  32  *
  33  * @param target_system The system setting the mode
  34  * @param base_mode The new base mode
  35  * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
  36  * @return length of the message in bytes (excluding serial stream start sign)
  37  */
  38 static inline uint16_t mavlink_msg_set_mode_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  39                                                  uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
  40 {
  41 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  42     char buf[6];
  43     _mav_put_uint32_t(buf, 0, custom_mode);
  44     _mav_put_uint8_t(buf, 4, target_system);
  45     _mav_put_uint8_t(buf, 5, base_mode);
  46
  47     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
  48 #else
  49     mavlink_set_mode_t packet;
  50     packet.custom_mode   = custom_mode;
  51     packet.target_system = target_system;
  52     packet.base_mode     = base_mode;
  53
  54     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
  55 #endif
  56
  57     msg->msgid = MAVLINK_MSG_ID_SET_MODE;
  58     return mavlink_finalize_message(msg, system_id, component_id, 6, 89);
  59 }
  60
  61 /**
  62  * @brief Pack a set_mode message on a channel
  63  * @param system_id ID of this system
  64  * @param component_id ID of this component (e.g. 200 for IMU)
  65  * @param chan The MAVLink channel this message was sent over
  66  * @param msg The MAVLink message to compress the data into
  67  * @param target_system The system setting the mode
  68  * @param base_mode The new base mode
  69  * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
  70  * @return length of the message in bytes (excluding serial stream start sign)
  71  */
  72 static inline uint16_t mavlink_msg_set_mode_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  73                                                       mavlink_message_t *msg,
  74                                                       uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
  75 {
  76 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  77     char buf[6];
  78     _mav_put_uint32_t(buf, 0, custom_mode);
  79     _mav_put_uint8_t(buf, 4, target_system);
  80     _mav_put_uint8_t(buf, 5, base_mode);
  81
  82     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 6);
  83 #else
  84     mavlink_set_mode_t packet;
  85     packet.custom_mode   = custom_mode;
  86     packet.target_system = target_system;
  87     packet.base_mode     = base_mode;
  88
  89     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 6);
  90 #endif
  91
  92     msg->msgid = MAVLINK_MSG_ID_SET_MODE;
  93     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 6, 89);
  94 }
  95
  96 /**
  97  * @brief Encode a set_mode struct into a message
  98  *
  99  * @param system_id ID of this system
 100  * @param component_id ID of this component (e.g. 200 for IMU)
 101  * @param msg The MAVLink message to compress the data into
 102  * @param set_mode C-struct to read the message contents from
 103  */
 104 static inline uint16_t mavlink_msg_set_mode_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_set_mode_t *set_mode)
 105 {
 106     return mavlink_msg_set_mode_pack(system_id, component_id, msg, set_mode->target_system, set_mode->base_mode, set_mode->custom_mode);
 107 }
 108
 109 /**
 110  * @brief Send a set_mode message
 111  * @param chan MAVLink channel to send the message
 112  *
 113  * @param target_system The system setting the mode
 114  * @param base_mode The new base mode
 115  * @param custom_mode The new autopilot-specific mode. This field can be ignored by an autopilot.
 116  */
 117 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 118
 119 static inline void mavlink_msg_set_mode_send(mavlink_channel_t chan, uint8_t target_system, uint8_t base_mode, uint32_t custom_mode)
 120 {
 121 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 122     char buf[6];
 123     _mav_put_uint32_t(buf, 0, custom_mode);
 124     _mav_put_uint8_t(buf, 4, target_system);
 125     _mav_put_uint8_t(buf, 5, base_mode);
 126
 127     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, buf, 6, 89);
 128 #else
 129     mavlink_set_mode_t packet;
 130     packet.custom_mode   = custom_mode;
 131     packet.target_system = target_system;
 132     packet.base_mode     = base_mode;
 133
 134     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_MODE, (const char *)&packet, 6, 89);
 135 #endif
 136 }
 137
 138 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 139
 140 // MESSAGE SET_MODE UNPACKING
 141
 142
 143 /**
 144  * @brief Get field target_system from set_mode message
 145  *
 146  * @return The system setting the mode
 147  */
 148 static inline uint8_t mavlink_msg_set_mode_get_target_system(const mavlink_message_t *msg)
 149 {
 150     return _MAV_RETURN_uint8_t(msg, 4);
 151 }
 152
 153 /**
 154  * @brief Get field base_mode from set_mode message
 155  *
 156  * @return The new base mode
 157  */
 158 static inline uint8_t mavlink_msg_set_mode_get_base_mode(const mavlink_message_t *msg)
 159 {
 160     return _MAV_RETURN_uint8_t(msg, 5);
 161 }
 162
 163 /**
 164  * @brief Get field custom_mode from set_mode message
 165  *
 166  * @return The new autopilot-specific mode. This field can be ignored by an autopilot.
 167  */
 168 static inline uint32_t mavlink_msg_set_mode_get_custom_mode(const mavlink_message_t *msg)
 169 {
 170     return _MAV_RETURN_uint32_t(msg, 0);
 171 }
 172
 173 /**
 174  * @brief Decode a set_mode message into a struct
 175  *
 176  * @param msg The message to decode
 177  * @param set_mode C-struct to decode the message contents into
 178  */
 179 static inline void mavlink_msg_set_mode_decode(const mavlink_message_t *msg, mavlink_set_mode_t *set_mode)
 180 {
 181 #if MAVLINK_NEED_BYTE_SWAP
 182     set_mode->custom_mode   = mavlink_msg_set_mode_get_custom_mode(msg);
 183     set_mode->target_system = mavlink_msg_set_mode_get_target_system(msg);
 184     set_mode->base_mode     = mavlink_msg_set_mode_get_base_mode(msg);
 185 #else
 186     memcpy(set_mode, _MAV_PAYLOAD(msg), 6);
 187 #endif
 188 }