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

   1 // MESSAGE VFR_HUD PACKING
   2
   3 #define MAVLINK_MSG_ID_VFR_HUD 74
   4
   5 typedef struct __mavlink_vfr_hud_t {
   6     float    airspeed; ///< Current airspeed in m/s
   7     float    groundspeed; ///< Current ground speed in m/s
   8     float    alt; ///< Current altitude (MSL), in meters
   9     float    climb; ///< Current climb rate in meters/second
  10     int16_t  heading; ///< Current heading in degrees, in compass units (0..360, 0=north)
  11     uint16_t throttle; ///< Current throttle setting in integer percent, 0 to 100
  12 } mavlink_vfr_hud_t;
  13
  14 #define MAVLINK_MSG_ID_VFR_HUD_LEN 20
  15 #define MAVLINK_MSG_ID_74_LEN      20
  16
  17
  18 #define MAVLINK_MESSAGE_INFO_VFR_HUD \
  19     { \
  20         "VFR_HUD", \
  21         6, \
  22         { \
  23             { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_vfr_hud_t, airspeed) }, \
  24             { "groundspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vfr_hud_t, groundspeed) }, \
  25             { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vfr_hud_t, alt) }, \
  26             { "climb", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vfr_hud_t, climb) }, \
  27             { "heading", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_vfr_hud_t, heading) }, \
  28             { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_vfr_hud_t, throttle) }, \
  29         } \
  30     }
  31
  32
  33 /**
  34  * @brief Pack a vfr_hud message
  35  * @param system_id ID of this system
  36  * @param component_id ID of this component (e.g. 200 for IMU)
  37  * @param msg The MAVLink message to compress the data into
  38  *
  39  * @param airspeed Current airspeed in m/s
  40  * @param groundspeed Current ground speed in m/s
  41  * @param heading Current heading in degrees, in compass units (0..360, 0=north)
  42  * @param throttle Current throttle setting in integer percent, 0 to 100
  43  * @param alt Current altitude (MSL), in meters
  44  * @param climb Current climb rate in meters/second
  45  * @return length of the message in bytes (excluding serial stream start sign)
  46  */
  47 static inline uint16_t mavlink_msg_vfr_hud_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  48                                                 float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
  49 {
  50 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  51     char buf[20];
  52     _mav_put_float(buf, 0, airspeed);
  53     _mav_put_float(buf, 4, groundspeed);
  54     _mav_put_float(buf, 8, alt);
  55     _mav_put_float(buf, 12, climb);
  56     _mav_put_int16_t(buf, 16, heading);
  57     _mav_put_uint16_t(buf, 18, throttle);
  58
  59     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
  60 #else
  61     mavlink_vfr_hud_t packet;
  62     packet.airspeed    = airspeed;
  63     packet.groundspeed = groundspeed;
  64     packet.alt = alt;
  65     packet.climb = climb;
  66     packet.heading     = heading;
  67     packet.throttle    = throttle;
  68
  69     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
  70 #endif
  71
  72     msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
  73     return mavlink_finalize_message(msg, system_id, component_id, 20, 20);
  74 }
  75
  76 /**
  77  * @brief Pack a vfr_hud message on a channel
  78  * @param system_id ID of this system
  79  * @param component_id ID of this component (e.g. 200 for IMU)
  80  * @param chan The MAVLink channel this message was sent over
  81  * @param msg The MAVLink message to compress the data into
  82  * @param airspeed Current airspeed in m/s
  83  * @param groundspeed Current ground speed in m/s
  84  * @param heading Current heading in degrees, in compass units (0..360, 0=north)
  85  * @param throttle Current throttle setting in integer percent, 0 to 100
  86  * @param alt Current altitude (MSL), in meters
  87  * @param climb Current climb rate in meters/second
  88  * @return length of the message in bytes (excluding serial stream start sign)
  89  */
  90 static inline uint16_t mavlink_msg_vfr_hud_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  91                                                      mavlink_message_t *msg,
  92                                                      float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
  93 {
  94 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  95     char buf[20];
  96     _mav_put_float(buf, 0, airspeed);
  97     _mav_put_float(buf, 4, groundspeed);
  98     _mav_put_float(buf, 8, alt);
  99     _mav_put_float(buf, 12, climb);
 100     _mav_put_int16_t(buf, 16, heading);
 101     _mav_put_uint16_t(buf, 18, throttle);
 102
 103     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
 104 #else
 105     mavlink_vfr_hud_t packet;
 106     packet.airspeed    = airspeed;
 107     packet.groundspeed = groundspeed;
 108     packet.alt = alt;
 109     packet.climb = climb;
 110     packet.heading     = heading;
 111     packet.throttle    = throttle;
 112
 113     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
 114 #endif
 115
 116     msg->msgid = MAVLINK_MSG_ID_VFR_HUD;
 117     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 20);
 118 }
 119
 120 /**
 121  * @brief Encode a vfr_hud struct into a message
 122  *
 123  * @param system_id ID of this system
 124  * @param component_id ID of this component (e.g. 200 for IMU)
 125  * @param msg The MAVLink message to compress the data into
 126  * @param vfr_hud C-struct to read the message contents from
 127  */
 128 static inline uint16_t mavlink_msg_vfr_hud_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_vfr_hud_t *vfr_hud)
 129 {
 130     return mavlink_msg_vfr_hud_pack(system_id, component_id, msg, vfr_hud->airspeed, vfr_hud->groundspeed, vfr_hud->heading, vfr_hud->throttle, vfr_hud->alt, vfr_hud->climb);
 131 }
 132
 133 /**
 134  * @brief Send a vfr_hud message
 135  * @param chan MAVLink channel to send the message
 136  *
 137  * @param airspeed Current airspeed in m/s
 138  * @param groundspeed Current ground speed in m/s
 139  * @param heading Current heading in degrees, in compass units (0..360, 0=north)
 140  * @param throttle Current throttle setting in integer percent, 0 to 100
 141  * @param alt Current altitude (MSL), in meters
 142  * @param climb Current climb rate in meters/second
 143  */
 144 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 145
 146 static inline void mavlink_msg_vfr_hud_send(mavlink_channel_t chan, float airspeed, float groundspeed, int16_t heading, uint16_t throttle, float alt, float climb)
 147 {
 148 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 149     char buf[20];
 150     _mav_put_float(buf, 0, airspeed);
 151     _mav_put_float(buf, 4, groundspeed);
 152     _mav_put_float(buf, 8, alt);
 153     _mav_put_float(buf, 12, climb);
 154     _mav_put_int16_t(buf, 16, heading);
 155     _mav_put_uint16_t(buf, 18, throttle);
 156
 157     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, buf, 20, 20);
 158 #else
 159     mavlink_vfr_hud_t packet;
 160     packet.airspeed    = airspeed;
 161     packet.groundspeed = groundspeed;
 162     packet.alt = alt;
 163     packet.climb = climb;
 164     packet.heading     = heading;
 165     packet.throttle    = throttle;
 166
 167     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VFR_HUD, (const char *)&packet, 20, 20);
 168 #endif
 169 }
 170
 171 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 172
 173 // MESSAGE VFR_HUD UNPACKING
 174
 175
 176 /**
 177  * @brief Get field airspeed from vfr_hud message
 178  *
 179  * @return Current airspeed in m/s
 180  */
 181 static inline float mavlink_msg_vfr_hud_get_airspeed(const mavlink_message_t *msg)
 182 {
 183     return _MAV_RETURN_float(msg, 0);
 184 }
 185
 186 /**
 187  * @brief Get field groundspeed from vfr_hud message
 188  *
 189  * @return Current ground speed in m/s
 190  */
 191 static inline float mavlink_msg_vfr_hud_get_groundspeed(const mavlink_message_t *msg)
 192 {
 193     return _MAV_RETURN_float(msg, 4);
 194 }
 195
 196 /**
 197  * @brief Get field heading from vfr_hud message
 198  *
 199  * @return Current heading in degrees, in compass units (0..360, 0=north)
 200  */
 201 static inline int16_t mavlink_msg_vfr_hud_get_heading(const mavlink_message_t *msg)
 202 {
 203     return _MAV_RETURN_int16_t(msg, 16);
 204 }
 205
 206 /**
 207  * @brief Get field throttle from vfr_hud message
 208  *
 209  * @return Current throttle setting in integer percent, 0 to 100
 210  */
 211 static inline uint16_t mavlink_msg_vfr_hud_get_throttle(const mavlink_message_t *msg)
 212 {
 213     return _MAV_RETURN_uint16_t(msg, 18);
 214 }
 215
 216 /**
 217  * @brief Get field alt from vfr_hud message
 218  *
 219  * @return Current altitude (MSL), in meters
 220  */
 221 static inline float mavlink_msg_vfr_hud_get_alt(const mavlink_message_t *msg)
 222 {
 223     return _MAV_RETURN_float(msg, 8);
 224 }
 225
 226 /**
 227  * @brief Get field climb from vfr_hud message
 228  *
 229  * @return Current climb rate in meters/second
 230  */
 231 static inline float mavlink_msg_vfr_hud_get_climb(const mavlink_message_t *msg)
 232 {
 233     return _MAV_RETURN_float(msg, 12);
 234 }
 235
 236 /**
 237  * @brief Decode a vfr_hud message into a struct
 238  *
 239  * @param msg The message to decode
 240  * @param vfr_hud C-struct to decode the message contents into
 241  */
 242 static inline void mavlink_msg_vfr_hud_decode(const mavlink_message_t *msg, mavlink_vfr_hud_t *vfr_hud)
 243 {
 244 #if MAVLINK_NEED_BYTE_SWAP
 245     vfr_hud->airspeed    = mavlink_msg_vfr_hud_get_airspeed(msg);
 246     vfr_hud->groundspeed = mavlink_msg_vfr_hud_get_groundspeed(msg);
 247     vfr_hud->alt = mavlink_msg_vfr_hud_get_alt(msg);
 248     vfr_hud->climb = mavlink_msg_vfr_hud_get_climb(msg);
 249     vfr_hud->heading     = mavlink_msg_vfr_hud_get_heading(msg);
 250     vfr_hud->throttle    = mavlink_msg_vfr_hud_get_throttle(msg);
 251 #else
 252     memcpy(vfr_hud, _MAV_PAYLOAD(msg), 20);
 253 #endif
 254 }