Diff: MAVlink/include/pixhawk/mavlink_msg_attitude_control.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/pixhawk/mavlink_msg_attitude_control.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,257 @@
+// MESSAGE ATTITUDE_CONTROL PACKING
+
+#define MAVLINK_MSG_ID_ATTITUDE_CONTROL 85
+
+typedef struct __mavlink_attitude_control_t 
+{
+	uint8_t target; ///< The system to be controlled
+	float roll; ///< roll
+	float pitch; ///< pitch
+	float yaw; ///< yaw
+	float thrust; ///< thrust
+	uint8_t roll_manual; ///< roll control enabled auto:0, manual:1
+	uint8_t pitch_manual; ///< pitch auto:0, manual:1
+	uint8_t yaw_manual; ///< yaw auto:0, manual:1
+	uint8_t thrust_manual; ///< thrust auto:0, manual:1
+
+} mavlink_attitude_control_t;
+
+
+
+/**
+ * @brief Pack a attitude_control 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 target The system to be controlled
+ * @param roll roll
+ * @param pitch pitch
+ * @param yaw yaw
+ * @param thrust thrust
+ * @param roll_manual roll control enabled auto:0, manual:1
+ * @param pitch_manual pitch auto:0, manual:1
+ * @param yaw_manual yaw auto:0, manual:1
+ * @param thrust_manual thrust auto:0, manual:1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_attitude_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
+
+	i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled
+	i += put_float_by_index(roll, i, msg->payload); // roll
+	i += put_float_by_index(pitch, i, msg->payload); // pitch
+	i += put_float_by_index(yaw, i, msg->payload); // yaw
+	i += put_float_by_index(thrust, i, msg->payload); // thrust
+	i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1
+	i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1
+	i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1
+	i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a attitude_control 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 target The system to be controlled
+ * @param roll roll
+ * @param pitch pitch
+ * @param yaw yaw
+ * @param thrust thrust
+ * @param roll_manual roll control enabled auto:0, manual:1
+ * @param pitch_manual pitch auto:0, manual:1
+ * @param yaw_manual yaw auto:0, manual:1
+ * @param thrust_manual thrust auto:0, manual:1
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_attitude_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_ATTITUDE_CONTROL;
+
+	i += put_uint8_t_by_index(target, i, msg->payload); // The system to be controlled
+	i += put_float_by_index(roll, i, msg->payload); // roll
+	i += put_float_by_index(pitch, i, msg->payload); // pitch
+	i += put_float_by_index(yaw, i, msg->payload); // yaw
+	i += put_float_by_index(thrust, i, msg->payload); // thrust
+	i += put_uint8_t_by_index(roll_manual, i, msg->payload); // roll control enabled auto:0, manual:1
+	i += put_uint8_t_by_index(pitch_manual, i, msg->payload); // pitch auto:0, manual:1
+	i += put_uint8_t_by_index(yaw_manual, i, msg->payload); // yaw auto:0, manual:1
+	i += put_uint8_t_by_index(thrust_manual, i, msg->payload); // thrust auto:0, manual:1
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a attitude_control 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 attitude_control C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_attitude_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_control_t* attitude_control)
+{
+	return mavlink_msg_attitude_control_pack(system_id, component_id, msg, attitude_control->target, attitude_control->roll, attitude_control->pitch, attitude_control->yaw, attitude_control->thrust, attitude_control->roll_manual, attitude_control->pitch_manual, attitude_control->yaw_manual, attitude_control->thrust_manual);
+}
+
+/**
+ * @brief Send a attitude_control message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param target The system to be controlled
+ * @param roll roll
+ * @param pitch pitch
+ * @param yaw yaw
+ * @param thrust thrust
+ * @param roll_manual roll control enabled auto:0, manual:1
+ * @param pitch_manual pitch auto:0, manual:1
+ * @param yaw_manual yaw auto:0, manual:1
+ * @param thrust_manual thrust auto:0, manual:1
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_attitude_control_send(mavlink_channel_t chan, uint8_t target, float roll, float pitch, float yaw, float thrust, uint8_t roll_manual, uint8_t pitch_manual, uint8_t yaw_manual, uint8_t thrust_manual)
+{
+	mavlink_message_t msg;
+	mavlink_msg_attitude_control_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, roll, pitch, yaw, thrust, roll_manual, pitch_manual, yaw_manual, thrust_manual);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE ATTITUDE_CONTROL UNPACKING
+
+/**
+ * @brief Get field target from attitude_control message
+ *
+ * @return The system to be controlled
+ */
+static inline uint8_t mavlink_msg_attitude_control_get_target(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload)[0];
+}
+
+/**
+ * @brief Get field roll from attitude_control message
+ *
+ * @return roll
+ */
+static inline float mavlink_msg_attitude_control_get_roll(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field pitch from attitude_control message
+ *
+ * @return pitch
+ */
+static inline float mavlink_msg_attitude_control_get_pitch(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field yaw from attitude_control message
+ *
+ * @return yaw
+ */
+static inline float mavlink_msg_attitude_control_get_yaw(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field thrust from attitude_control message
+ *
+ * @return thrust
+ */
+static inline float mavlink_msg_attitude_control_get_thrust(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field roll_manual from attitude_control message
+ *
+ * @return roll control enabled auto:0, manual:1
+ */
+static inline uint8_t mavlink_msg_attitude_control_get_roll_manual(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+}
+
+/**
+ * @brief Get field pitch_manual from attitude_control message
+ *
+ * @return pitch auto:0, manual:1
+ */
+static inline uint8_t mavlink_msg_attitude_control_get_pitch_manual(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field yaw_manual from attitude_control message
+ *
+ * @return yaw auto:0, manual:1
+ */
+static inline uint8_t mavlink_msg_attitude_control_get_yaw_manual(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Get field thrust_manual from attitude_control message
+ *
+ * @return thrust auto:0, manual:1
+ */
+static inline uint8_t mavlink_msg_attitude_control_get_thrust_manual(const mavlink_message_t* msg)
+{
+	return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
+}
+
+/**
+ * @brief Decode a attitude_control message into a struct
+ *
+ * @param msg The message to decode
+ * @param attitude_control C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_attitude_control_decode(const mavlink_message_t* msg, mavlink_attitude_control_t* attitude_control)
+{
+	attitude_control->target = mavlink_msg_attitude_control_get_target(msg);
+	attitude_control->roll = mavlink_msg_attitude_control_get_roll(msg);
+	attitude_control->pitch = mavlink_msg_attitude_control_get_pitch(msg);
+	attitude_control->yaw = mavlink_msg_attitude_control_get_yaw(msg);
+	attitude_control->thrust = mavlink_msg_attitude_control_get_thrust(msg);
+	attitude_control->roll_manual = mavlink_msg_attitude_control_get_roll_manual(msg);
+	attitude_control->pitch_manual = mavlink_msg_attitude_control_get_pitch_manual(msg);
+	attitude_control->yaw_manual = mavlink_msg_attitude_control_get_yaw_manual(msg);
+	attitude_control->thrust_manual = mavlink_msg_attitude_control_get_thrust_manual(msg);
+}