Diff: MAVlink/include/common/mavlink_msg_position_target.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_position_target.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,172 @@
+// MESSAGE POSITION_TARGET PACKING
+
+#define MAVLINK_MSG_ID_POSITION_TARGET 63
+
+typedef struct __mavlink_position_target_t 
+{
+	float x; ///< x position
+	float y; ///< y position
+	float z; ///< z position
+	float yaw; ///< yaw orientation in radians, 0 = NORTH
+
+} mavlink_position_target_t;
+
+
+
+/**
+ * @brief Pack a position_target 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 x x position
+ * @param y y position
+ * @param z z position
+ * @param yaw yaw orientation in radians, 0 = NORTH
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_position_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float x, float y, float z, float yaw)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
+
+	i += put_float_by_index(x, i, msg->payload); // x position
+	i += put_float_by_index(y, i, msg->payload); // y position
+	i += put_float_by_index(z, i, msg->payload); // z position
+	i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a position_target 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 x x position
+ * @param y y position
+ * @param z z position
+ * @param yaw yaw orientation in radians, 0 = NORTH
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_position_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, float yaw)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET;
+
+	i += put_float_by_index(x, i, msg->payload); // x position
+	i += put_float_by_index(y, i, msg->payload); // y position
+	i += put_float_by_index(z, i, msg->payload); // z position
+	i += put_float_by_index(yaw, i, msg->payload); // yaw orientation in radians, 0 = NORTH
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a position_target 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 position_target C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_position_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_t* position_target)
+{
+	return mavlink_msg_position_target_pack(system_id, component_id, msg, position_target->x, position_target->y, position_target->z, position_target->yaw);
+}
+
+/**
+ * @brief Send a position_target message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param x x position
+ * @param y y position
+ * @param z z position
+ * @param yaw yaw orientation in radians, 0 = NORTH
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_position_target_send(mavlink_channel_t chan, float x, float y, float z, float yaw)
+{
+	mavlink_message_t msg;
+	mavlink_msg_position_target_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, x, y, z, yaw);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE POSITION_TARGET UNPACKING
+
+/**
+ * @brief Get field x from position_target message
+ *
+ * @return x position
+ */
+static inline float mavlink_msg_position_target_get_x(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload)[0];
+	r.b[2] = (msg->payload)[1];
+	r.b[1] = (msg->payload)[2];
+	r.b[0] = (msg->payload)[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field y from position_target message
+ *
+ * @return y position
+ */
+static inline float mavlink_msg_position_target_get_y(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field z from position_target message
+ *
+ * @return z position
+ */
+static inline float mavlink_msg_position_target_get_z(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field yaw from position_target message
+ *
+ * @return yaw orientation in radians, 0 = NORTH
+ */
+static inline float mavlink_msg_position_target_get_yaw(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Decode a position_target message into a struct
+ *
+ * @param msg The message to decode
+ * @param position_target C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_position_target_decode(const mavlink_message_t* msg, mavlink_position_target_t* position_target)
+{
+	position_target->x = mavlink_msg_position_target_get_x(msg);
+	position_target->y = mavlink_msg_position_target_get_y(msg);
+	position_target->z = mavlink_msg_position_target_get_z(msg);
+	position_target->yaw = mavlink_msg_position_target_get_yaw(msg);
+}