Diff: MAVlink/include/common/mavlink_msg_control_status.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_control_status.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,220 @@
+// MESSAGE CONTROL_STATUS PACKING
+
+#define MAVLINK_MSG_ID_CONTROL_STATUS 52
+
+typedef struct __mavlink_control_status_t 
+{
+	uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
+	uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
+	uint8_t gps_fix; ///< GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
+	uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent
+	uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled
+	uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled
+	uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled
+	uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled
+
+} mavlink_control_status_t;
+
+
+
+/**
+ * @brief Pack a control_status message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
+ * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
+ * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
+ * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
+ * @param control_att 0: Attitude control disabled, 1: enabled
+ * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
+ * @param control_pos_z 0: Z position control disabled, 1: enabled
+ * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_control_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
+
+	i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
+	i += put_uint8_t_by_index(vision_fix, i, msg->payload); // Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
+	i += put_uint8_t_by_index(gps_fix, i, msg->payload); // GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
+	i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent
+	i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled
+	i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled
+	i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled
+	i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a control_status message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
+ * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
+ * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
+ * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
+ * @param control_att 0: Attitude control disabled, 1: enabled
+ * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
+ * @param control_pos_z 0: Z position control disabled, 1: enabled
+ * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_control_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
+
+	i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
+	i += put_uint8_t_by_index(vision_fix, i, msg->payload); // Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
+	i += put_uint8_t_by_index(gps_fix, i, msg->payload); // GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
+	i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent
+	i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled
+	i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled
+	i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled
+	i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a control_status struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param control_status C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_control_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_status_t* control_status)
+{
+	return mavlink_msg_control_status_pack(system_id, component_id, msg, control_status->position_fix, control_status->vision_fix, control_status->gps_fix, control_status->ahrs_health, control_status->control_att, control_status->control_pos_xy, control_status->control_pos_z, control_status->control_pos_yaw);
+}
+
+/**
+ * @brief Send a control_status message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
+ * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
+ * @param gps_fix GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
+ * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
+ * @param control_att 0: Attitude control disabled, 1: enabled
+ * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
+ * @param control_pos_z 0: Z position control disabled, 1: enabled
+ * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_control_status_send(mavlink_channel_t chan, uint8_t position_fix, uint8_t vision_fix, uint8_t gps_fix, uint8_t ahrs_health, uint8_t control_att, uint8_t control_pos_xy, uint8_t control_pos_z, uint8_t control_pos_yaw)
+{
+	mavlink_message_t msg;
+	mavlink_msg_control_status_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, position_fix, vision_fix, gps_fix, ahrs_health, control_att, control_pos_xy, control_pos_z, control_pos_yaw);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE CONTROL_STATUS UNPACKING
+
+/**
+ * @brief Get field position_fix from control_status message
+ *
+ * @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
+ */
+static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field vision_fix from control_status message
+ *
+ * @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
+ */
+static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field gps_fix from control_status message
+ *
+ * @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
+ */
+static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field ahrs_health from control_status message
+ *
+ * @return Attitude estimation health: 0: poor, 255: excellent
+ */
+static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field control_att from control_status message
+ *
+ * @return 0: Attitude control disabled, 1: enabled
+ */
+static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field control_pos_xy from control_status message
+ *
+ * @return 0: X, Y position control disabled, 1: enabled
+ */
+static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field control_pos_z from control_status message
+ *
+ * @return 0: Z position control disabled, 1: enabled
+ */
+static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field control_pos_yaw from control_status message
+ *
+ * @return 0: Yaw angle control disabled, 1: enabled
+ */
+static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Decode a control_status message into a struct
+ *
+ * @param msg The message to decode
+ * @param control_status C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status)
+{
+	control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg);
+	control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg);
+	control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg);
+	control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg);
+	control_status->control_att = mavlink_msg_control_status_get_control_att(msg);
+	control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg);
+	control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg);
+	control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg);
+}