mavlink_msg_mid_lvl_cmds.h

00001 // MESSAGE MID_LVL_CMDS PACKING
00002 
00003 #define MAVLINK_MSG_ID_MID_LVL_CMDS 180
00004 
00005 typedef struct __mavlink_mid_lvl_cmds_t 
00006 {
00007     uint8_t target; ///< The system setting the commands
00008     float hCommand; ///< Commanded Airspeed
00009     float uCommand; ///< Log value 2 
00010     float rCommand; ///< Log value 3 
00011 
00012 } mavlink_mid_lvl_cmds_t;
00013 
00014 
00015 
00016 /**
00017  * @brief Pack a mid_lvl_cmds message
00018  * @param system_id ID of this system
00019  * @param component_id ID of this component (e.g. 200 for IMU)
00020  * @param msg The MAVLink message to compress the data into
00021  *
00022  * @param target The system setting the commands
00023  * @param hCommand Commanded Airspeed
00024  * @param uCommand Log value 2 
00025  * @param rCommand Log value 3 
00026  * @return length of the message in bytes (excluding serial stream start sign)
00027  */
00028 static inline uint16_t mavlink_msg_mid_lvl_cmds_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, float hCommand, float uCommand, float rCommand)
00029 {
00030     uint16_t i = 0;
00031     msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS;
00032 
00033     i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the commands
00034     i += put_float_by_index(hCommand, i, msg->payload); // Commanded Airspeed
00035     i += put_float_by_index(uCommand, i, msg->payload); // Log value 2 
00036     i += put_float_by_index(rCommand, i, msg->payload); // Log value 3 
00037 
00038     return mavlink_finalize_message(msg, system_id, component_id, i);
00039 }
00040 
00041 /**
00042  * @brief Pack a mid_lvl_cmds message
00043  * @param system_id ID of this system
00044  * @param component_id ID of this component (e.g. 200 for IMU)
00045  * @param chan The MAVLink channel this message was sent over
00046  * @param msg The MAVLink message to compress the data into
00047  * @param target The system setting the commands
00048  * @param hCommand Commanded Airspeed
00049  * @param uCommand Log value 2 
00050  * @param rCommand Log value 3 
00051  * @return length of the message in bytes (excluding serial stream start sign)
00052  */
00053 static inline uint16_t mavlink_msg_mid_lvl_cmds_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target, float hCommand, float uCommand, float rCommand)
00054 {
00055     uint16_t i = 0;
00056     msg->msgid = MAVLINK_MSG_ID_MID_LVL_CMDS;
00057 
00058     i += put_uint8_t_by_index(target, i, msg->payload); // The system setting the commands
00059     i += put_float_by_index(hCommand, i, msg->payload); // Commanded Airspeed
00060     i += put_float_by_index(uCommand, i, msg->payload); // Log value 2 
00061     i += put_float_by_index(rCommand, i, msg->payload); // Log value 3 
00062 
00063     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00064 }
00065 
00066 /**
00067  * @brief Encode a mid_lvl_cmds struct into a message
00068  *
00069  * @param system_id ID of this system
00070  * @param component_id ID of this component (e.g. 200 for IMU)
00071  * @param msg The MAVLink message to compress the data into
00072  * @param mid_lvl_cmds C-struct to read the message contents from
00073  */
00074 static inline uint16_t mavlink_msg_mid_lvl_cmds_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
00075 {
00076     return mavlink_msg_mid_lvl_cmds_pack(system_id, component_id, msg, mid_lvl_cmds->target, mid_lvl_cmds->hCommand, mid_lvl_cmds->uCommand, mid_lvl_cmds->rCommand);
00077 }
00078 
00079 /**
00080  * @brief Send a mid_lvl_cmds message
00081  * @param chan MAVLink channel to send the message
00082  *
00083  * @param target The system setting the commands
00084  * @param hCommand Commanded Airspeed
00085  * @param uCommand Log value 2 
00086  * @param rCommand Log value 3 
00087  */
00088 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00089 
00090 static inline void mavlink_msg_mid_lvl_cmds_send(mavlink_channel_t chan, uint8_t target, float hCommand, float uCommand, float rCommand)
00091 {
00092     mavlink_message_t msg;
00093     mavlink_msg_mid_lvl_cmds_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target, hCommand, uCommand, rCommand);
00094     mavlink_send_uart(chan, &msg);
00095 }
00096 
00097 #endif
00098 // MESSAGE MID_LVL_CMDS UNPACKING
00099 
00100 /**
00101  * @brief Get field target from mid_lvl_cmds message
00102  *
00103  * @return The system setting the commands
00104  */
00105 static inline uint8_t mavlink_msg_mid_lvl_cmds_get_target(const mavlink_message_t* msg)
00106 {
00107     return (uint8_t)(msg->payload)[0];
00108 }
00109 
00110 /**
00111  * @brief Get field hCommand from mid_lvl_cmds message
00112  *
00113  * @return Commanded Airspeed
00114  */
00115 static inline float mavlink_msg_mid_lvl_cmds_get_hCommand(const mavlink_message_t* msg)
00116 {
00117     generic_32bit r;
00118     r.b[3] = (msg->payload+sizeof(uint8_t))[0];
00119     r.b[2] = (msg->payload+sizeof(uint8_t))[1];
00120     r.b[1] = (msg->payload+sizeof(uint8_t))[2];
00121     r.b[0] = (msg->payload+sizeof(uint8_t))[3];
00122     return (float)r.f;
00123 }
00124 
00125 /**
00126  * @brief Get field uCommand from mid_lvl_cmds message
00127  *
00128  * @return Log value 2 
00129  */
00130 static inline float mavlink_msg_mid_lvl_cmds_get_uCommand(const mavlink_message_t* msg)
00131 {
00132     generic_32bit r;
00133     r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float))[0];
00134     r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float))[1];
00135     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float))[2];
00136     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float))[3];
00137     return (float)r.f;
00138 }
00139 
00140 /**
00141  * @brief Get field rCommand from mid_lvl_cmds message
00142  *
00143  * @return Log value 3 
00144  */
00145 static inline float mavlink_msg_mid_lvl_cmds_get_rCommand(const mavlink_message_t* msg)
00146 {
00147     generic_32bit r;
00148     r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
00149     r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
00150     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
00151     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
00152     return (float)r.f;
00153 }
00154 
00155 /**
00156  * @brief Decode a mid_lvl_cmds message into a struct
00157  *
00158  * @param msg The message to decode
00159  * @param mid_lvl_cmds C-struct to decode the message contents into
00160  */
00161 static inline void mavlink_msg_mid_lvl_cmds_decode(const mavlink_message_t* msg, mavlink_mid_lvl_cmds_t* mid_lvl_cmds)
00162 {
00163     mid_lvl_cmds->target = mavlink_msg_mid_lvl_cmds_get_target(msg);
00164     mid_lvl_cmds->hCommand = mavlink_msg_mid_lvl_cmds_get_hCommand(msg);
00165     mid_lvl_cmds->uCommand = mavlink_msg_mid_lvl_cmds_get_uCommand(msg);
00166     mid_lvl_cmds->rCommand = mavlink_msg_mid_lvl_cmds_get_rCommand(msg);
00167 }