mavlink_msg_control_status.h

00001 // MESSAGE CONTROL_STATUS PACKING
00002 
00003 #define MAVLINK_MSG_ID_CONTROL_STATUS 52
00004 
00005 typedef struct __mavlink_control_status_t 
00006 {
00007     uint8_t position_fix; ///< Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
00008     uint8_t vision_fix; ///< Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
00009     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 
00010     uint8_t ahrs_health; ///< Attitude estimation health: 0: poor, 255: excellent
00011     uint8_t control_att; ///< 0: Attitude control disabled, 1: enabled
00012     uint8_t control_pos_xy; ///< 0: X, Y position control disabled, 1: enabled
00013     uint8_t control_pos_z; ///< 0: Z position control disabled, 1: enabled
00014     uint8_t control_pos_yaw; ///< 0: Yaw angle control disabled, 1: enabled
00015 
00016 } mavlink_control_status_t;
00017 
00018 
00019 
00020 /**
00021  * @brief Pack a control_status message
00022  * @param system_id ID of this system
00023  * @param component_id ID of this component (e.g. 200 for IMU)
00024  * @param msg The MAVLink message to compress the data into
00025  *
00026  * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
00027  * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
00028  * @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 
00029  * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
00030  * @param control_att 0: Attitude control disabled, 1: enabled
00031  * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
00032  * @param control_pos_z 0: Z position control disabled, 1: enabled
00033  * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
00034  * @return length of the message in bytes (excluding serial stream start sign)
00035  */
00036 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)
00037 {
00038     uint16_t i = 0;
00039     msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
00040 
00041     i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
00042     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 
00043     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 
00044     i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent
00045     i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled
00046     i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled
00047     i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled
00048     i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled
00049 
00050     return mavlink_finalize_message(msg, system_id, component_id, i);
00051 }
00052 
00053 /**
00054  * @brief Pack a control_status message
00055  * @param system_id ID of this system
00056  * @param component_id ID of this component (e.g. 200 for IMU)
00057  * @param chan The MAVLink channel this message was sent over
00058  * @param msg The MAVLink message to compress the data into
00059  * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
00060  * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
00061  * @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 
00062  * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
00063  * @param control_att 0: Attitude control disabled, 1: enabled
00064  * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
00065  * @param control_pos_z 0: Z position control disabled, 1: enabled
00066  * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
00067  * @return length of the message in bytes (excluding serial stream start sign)
00068  */
00069 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)
00070 {
00071     uint16_t i = 0;
00072     msg->msgid = MAVLINK_MSG_ID_CONTROL_STATUS;
00073 
00074     i += put_uint8_t_by_index(position_fix, i, msg->payload); // Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
00075     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 
00076     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 
00077     i += put_uint8_t_by_index(ahrs_health, i, msg->payload); // Attitude estimation health: 0: poor, 255: excellent
00078     i += put_uint8_t_by_index(control_att, i, msg->payload); // 0: Attitude control disabled, 1: enabled
00079     i += put_uint8_t_by_index(control_pos_xy, i, msg->payload); // 0: X, Y position control disabled, 1: enabled
00080     i += put_uint8_t_by_index(control_pos_z, i, msg->payload); // 0: Z position control disabled, 1: enabled
00081     i += put_uint8_t_by_index(control_pos_yaw, i, msg->payload); // 0: Yaw angle control disabled, 1: enabled
00082 
00083     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00084 }
00085 
00086 /**
00087  * @brief Encode a control_status struct into a message
00088  *
00089  * @param system_id ID of this system
00090  * @param component_id ID of this component (e.g. 200 for IMU)
00091  * @param msg The MAVLink message to compress the data into
00092  * @param control_status C-struct to read the message contents from
00093  */
00094 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)
00095 {
00096     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);
00097 }
00098 
00099 /**
00100  * @brief Send a control_status message
00101  * @param chan MAVLink channel to send the message
00102  *
00103  * @param position_fix Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
00104  * @param vision_fix Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
00105  * @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 
00106  * @param ahrs_health Attitude estimation health: 0: poor, 255: excellent
00107  * @param control_att 0: Attitude control disabled, 1: enabled
00108  * @param control_pos_xy 0: X, Y position control disabled, 1: enabled
00109  * @param control_pos_z 0: Z position control disabled, 1: enabled
00110  * @param control_pos_yaw 0: Yaw angle control disabled, 1: enabled
00111  */
00112 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00113 
00114 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)
00115 {
00116     mavlink_message_t msg;
00117     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);
00118     mavlink_send_uart(chan, &msg);
00119 }
00120 
00121 #endif
00122 // MESSAGE CONTROL_STATUS UNPACKING
00123 
00124 /**
00125  * @brief Get field position_fix from control_status message
00126  *
00127  * @return Position fix: 0: lost, 2: 2D position fix, 3: 3D position fix 
00128  */
00129 static inline uint8_t mavlink_msg_control_status_get_position_fix(const mavlink_message_t* msg)
00130 {
00131     return (uint8_t)(msg->payload)[0];
00132 }
00133 
00134 /**
00135  * @brief Get field vision_fix from control_status message
00136  *
00137  * @return Vision position fix: 0: lost, 1: 2D local position hold, 2: 2D global position fix, 3: 3D global position fix 
00138  */
00139 static inline uint8_t mavlink_msg_control_status_get_vision_fix(const mavlink_message_t* msg)
00140 {
00141     return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
00142 }
00143 
00144 /**
00145  * @brief Get field gps_fix from control_status message
00146  *
00147  * @return GPS position fix: 0: no reception, 1: Minimum 1 satellite, but no position fix, 2: 2D position fix, 3: 3D position fix 
00148  */
00149 static inline uint8_t mavlink_msg_control_status_get_gps_fix(const mavlink_message_t* msg)
00150 {
00151     return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
00152 }
00153 
00154 /**
00155  * @brief Get field ahrs_health from control_status message
00156  *
00157  * @return Attitude estimation health: 0: poor, 255: excellent
00158  */
00159 static inline uint8_t mavlink_msg_control_status_get_ahrs_health(const mavlink_message_t* msg)
00160 {
00161     return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
00162 }
00163 
00164 /**
00165  * @brief Get field control_att from control_status message
00166  *
00167  * @return 0: Attitude control disabled, 1: enabled
00168  */
00169 static inline uint8_t mavlink_msg_control_status_get_control_att(const mavlink_message_t* msg)
00170 {
00171     return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
00172 }
00173 
00174 /**
00175  * @brief Get field control_pos_xy from control_status message
00176  *
00177  * @return 0: X, Y position control disabled, 1: enabled
00178  */
00179 static inline uint8_t mavlink_msg_control_status_get_control_pos_xy(const mavlink_message_t* msg)
00180 {
00181     return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
00182 }
00183 
00184 /**
00185  * @brief Get field control_pos_z from control_status message
00186  *
00187  * @return 0: Z position control disabled, 1: enabled
00188  */
00189 static inline uint8_t mavlink_msg_control_status_get_control_pos_z(const mavlink_message_t* msg)
00190 {
00191     return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
00192 }
00193 
00194 /**
00195  * @brief Get field control_pos_yaw from control_status message
00196  *
00197  * @return 0: Yaw angle control disabled, 1: enabled
00198  */
00199 static inline uint8_t mavlink_msg_control_status_get_control_pos_yaw(const mavlink_message_t* msg)
00200 {
00201     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];
00202 }
00203 
00204 /**
00205  * @brief Decode a control_status message into a struct
00206  *
00207  * @param msg The message to decode
00208  * @param control_status C-struct to decode the message contents into
00209  */
00210 static inline void mavlink_msg_control_status_decode(const mavlink_message_t* msg, mavlink_control_status_t* control_status)
00211 {
00212     control_status->position_fix = mavlink_msg_control_status_get_position_fix(msg);
00213     control_status->vision_fix = mavlink_msg_control_status_get_vision_fix(msg);
00214     control_status->gps_fix = mavlink_msg_control_status_get_gps_fix(msg);
00215     control_status->ahrs_health = mavlink_msg_control_status_get_ahrs_health(msg);
00216     control_status->control_att = mavlink_msg_control_status_get_control_att(msg);
00217     control_status->control_pos_xy = mavlink_msg_control_status_get_control_pos_xy(msg);
00218     control_status->control_pos_z = mavlink_msg_control_status_get_control_pos_z(msg);
00219     control_status->control_pos_yaw = mavlink_msg_control_status_get_control_pos_yaw(msg);
00220 }