mavlink_msg_command_ack.h

00001 // MESSAGE COMMAND_ACK PACKING
00002 
00003 #define MAVLINK_MSG_ID_COMMAND_ACK 76
00004 
00005 typedef struct __mavlink_command_ack_t 
00006 {
00007     float command; ///< Current airspeed in m/s
00008     float result; ///< 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
00009 
00010 } mavlink_command_ack_t;
00011 
00012 
00013 
00014 /**
00015  * @brief Pack a command_ack message
00016  * @param system_id ID of this system
00017  * @param component_id ID of this component (e.g. 200 for IMU)
00018  * @param msg The MAVLink message to compress the data into
00019  *
00020  * @param command Current airspeed in m/s
00021  * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
00022  * @return length of the message in bytes (excluding serial stream start sign)
00023  */
00024 static inline uint16_t mavlink_msg_command_ack_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float command, float result)
00025 {
00026     uint16_t i = 0;
00027     msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
00028 
00029     i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
00030     i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
00031 
00032     return mavlink_finalize_message(msg, system_id, component_id, i);
00033 }
00034 
00035 /**
00036  * @brief Pack a command_ack message
00037  * @param system_id ID of this system
00038  * @param component_id ID of this component (e.g. 200 for IMU)
00039  * @param chan The MAVLink channel this message was sent over
00040  * @param msg The MAVLink message to compress the data into
00041  * @param command Current airspeed in m/s
00042  * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
00043  * @return length of the message in bytes (excluding serial stream start sign)
00044  */
00045 static inline uint16_t mavlink_msg_command_ack_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float command, float result)
00046 {
00047     uint16_t i = 0;
00048     msg->msgid = MAVLINK_MSG_ID_COMMAND_ACK;
00049 
00050     i += put_float_by_index(command, i, msg->payload); // Current airspeed in m/s
00051     i += put_float_by_index(result, i, msg->payload); // 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
00052 
00053     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00054 }
00055 
00056 /**
00057  * @brief Encode a command_ack struct into a message
00058  *
00059  * @param system_id ID of this system
00060  * @param component_id ID of this component (e.g. 200 for IMU)
00061  * @param msg The MAVLink message to compress the data into
00062  * @param command_ack C-struct to read the message contents from
00063  */
00064 static inline uint16_t mavlink_msg_command_ack_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_ack_t* command_ack)
00065 {
00066     return mavlink_msg_command_ack_pack(system_id, component_id, msg, command_ack->command, command_ack->result);
00067 }
00068 
00069 /**
00070  * @brief Send a command_ack message
00071  * @param chan MAVLink channel to send the message
00072  *
00073  * @param command Current airspeed in m/s
00074  * @param result 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
00075  */
00076 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00077 
00078 static inline void mavlink_msg_command_ack_send(mavlink_channel_t chan, float command, float result)
00079 {
00080     mavlink_message_t msg;
00081     mavlink_msg_command_ack_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, command, result);
00082     mavlink_send_uart(chan, &msg);
00083 }
00084 
00085 #endif
00086 // MESSAGE COMMAND_ACK UNPACKING
00087 
00088 /**
00089  * @brief Get field command from command_ack message
00090  *
00091  * @return Current airspeed in m/s
00092  */
00093 static inline float mavlink_msg_command_ack_get_command(const mavlink_message_t* msg)
00094 {
00095     generic_32bit r;
00096     r.b[3] = (msg->payload)[0];
00097     r.b[2] = (msg->payload)[1];
00098     r.b[1] = (msg->payload)[2];
00099     r.b[0] = (msg->payload)[3];
00100     return (float)r.f;
00101 }
00102 
00103 /**
00104  * @brief Get field result from command_ack message
00105  *
00106  * @return 1: Action ACCEPTED and EXECUTED, 1: Action TEMPORARY REJECTED/DENIED, 2: Action PERMANENTLY DENIED, 3: Action UNKNOWN/UNSUPPORTED, 4: Requesting CONFIRMATION
00107  */
00108 static inline float mavlink_msg_command_ack_get_result(const mavlink_message_t* msg)
00109 {
00110     generic_32bit r;
00111     r.b[3] = (msg->payload+sizeof(float))[0];
00112     r.b[2] = (msg->payload+sizeof(float))[1];
00113     r.b[1] = (msg->payload+sizeof(float))[2];
00114     r.b[0] = (msg->payload+sizeof(float))[3];
00115     return (float)r.f;
00116 }
00117 
00118 /**
00119  * @brief Decode a command_ack message into a struct
00120  *
00121  * @param msg The message to decode
00122  * @param command_ack C-struct to decode the message contents into
00123  */
00124 static inline void mavlink_msg_command_ack_decode(const mavlink_message_t* msg, mavlink_command_ack_t* command_ack)
00125 {
00126     command_ack->command = mavlink_msg_command_ack_get_command(msg);
00127     command_ack->result = mavlink_msg_command_ack_get_result(msg);
00128 }