mavlink_msg_param_set.h

00001 // MESSAGE PARAM_SET PACKING
00002 
00003 #define MAVLINK_MSG_ID_PARAM_SET 23
00004 
00005 typedef struct __mavlink_param_set_t 
00006 {
00007     uint8_t target_system; ///< System ID
00008     uint8_t target_component; ///< Component ID
00009     int8_t param_id[15]; ///< Onboard parameter id
00010     float param_value; ///< Onboard parameter value
00011 
00012 } mavlink_param_set_t;
00013 
00014 #define MAVLINK_MSG_PARAM_SET_FIELD_PARAM_ID_LEN 15
00015 
00016 
00017 /**
00018  * @brief Pack a param_set message
00019  * @param system_id ID of this system
00020  * @param component_id ID of this component (e.g. 200 for IMU)
00021  * @param msg The MAVLink message to compress the data into
00022  *
00023  * @param target_system System ID
00024  * @param target_component Component ID
00025  * @param param_id Onboard parameter id
00026  * @param param_value Onboard parameter value
00027  * @return length of the message in bytes (excluding serial stream start sign)
00028  */
00029 static inline uint16_t mavlink_msg_param_set_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value)
00030 {
00031     uint16_t i = 0;
00032     msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
00033 
00034     i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
00035     i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
00036     i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id
00037     i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value
00038 
00039     return mavlink_finalize_message(msg, system_id, component_id, i);
00040 }
00041 
00042 /**
00043  * @brief Pack a param_set message
00044  * @param system_id ID of this system
00045  * @param component_id ID of this component (e.g. 200 for IMU)
00046  * @param chan The MAVLink channel this message was sent over
00047  * @param msg The MAVLink message to compress the data into
00048  * @param target_system System ID
00049  * @param target_component Component ID
00050  * @param param_id Onboard parameter id
00051  * @param param_value Onboard parameter value
00052  * @return length of the message in bytes (excluding serial stream start sign)
00053  */
00054 static inline uint16_t mavlink_msg_param_set_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value)
00055 {
00056     uint16_t i = 0;
00057     msg->msgid = MAVLINK_MSG_ID_PARAM_SET;
00058 
00059     i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
00060     i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
00061     i += put_array_by_index(param_id, 15, i, msg->payload); // Onboard parameter id
00062     i += put_float_by_index(param_value, i, msg->payload); // Onboard parameter value
00063 
00064     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00065 }
00066 
00067 /**
00068  * @brief Encode a param_set struct into a message
00069  *
00070  * @param system_id ID of this system
00071  * @param component_id ID of this component (e.g. 200 for IMU)
00072  * @param msg The MAVLink message to compress the data into
00073  * @param param_set C-struct to read the message contents from
00074  */
00075 static inline uint16_t mavlink_msg_param_set_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_param_set_t* param_set)
00076 {
00077     return mavlink_msg_param_set_pack(system_id, component_id, msg, param_set->target_system, param_set->target_component, param_set->param_id, param_set->param_value);
00078 }
00079 
00080 /**
00081  * @brief Send a param_set message
00082  * @param chan MAVLink channel to send the message
00083  *
00084  * @param target_system System ID
00085  * @param target_component Component ID
00086  * @param param_id Onboard parameter id
00087  * @param param_value Onboard parameter value
00088  */
00089 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00090 
00091 static inline void mavlink_msg_param_set_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, const int8_t* param_id, float param_value)
00092 {
00093     mavlink_message_t msg;
00094     mavlink_msg_param_set_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, param_id, param_value);
00095     mavlink_send_uart(chan, &msg);
00096 }
00097 
00098 #endif
00099 // MESSAGE PARAM_SET UNPACKING
00100 
00101 /**
00102  * @brief Get field target_system from param_set message
00103  *
00104  * @return System ID
00105  */
00106 static inline uint8_t mavlink_msg_param_set_get_target_system(const mavlink_message_t* msg)
00107 {
00108     return (uint8_t)(msg->payload)[0];
00109 }
00110 
00111 /**
00112  * @brief Get field target_component from param_set message
00113  *
00114  * @return Component ID
00115  */
00116 static inline uint8_t mavlink_msg_param_set_get_target_component(const mavlink_message_t* msg)
00117 {
00118     return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
00119 }
00120 
00121 /**
00122  * @brief Get field param_id from param_set message
00123  *
00124  * @return Onboard parameter id
00125  */
00126 static inline uint16_t mavlink_msg_param_set_get_param_id(const mavlink_message_t* msg, int8_t* r_data)
00127 {
00128 
00129     memcpy(r_data, msg->payload+sizeof(uint8_t)+sizeof(uint8_t), 15);
00130     return 15;
00131 }
00132 
00133 /**
00134  * @brief Get field param_value from param_set message
00135  *
00136  * @return Onboard parameter value
00137  */
00138 static inline float mavlink_msg_param_set_get_param_value(const mavlink_message_t* msg)
00139 {
00140     generic_32bit r;
00141     r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[0];
00142     r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[1];
00143     r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[2];
00144     r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+15)[3];
00145     return (float)r.f;
00146 }
00147 
00148 /**
00149  * @brief Decode a param_set message into a struct
00150  *
00151  * @param msg The message to decode
00152  * @param param_set C-struct to decode the message contents into
00153  */
00154 static inline void mavlink_msg_param_set_decode(const mavlink_message_t* msg, mavlink_param_set_t* param_set)
00155 {
00156     param_set->target_system = mavlink_msg_param_set_get_target_system(msg);
00157     param_set->target_component = mavlink_msg_param_set_get_target_component(msg);
00158     mavlink_msg_param_set_get_param_id(msg, param_set->param_id);
00159     param_set->param_value = mavlink_msg_param_set_get_param_value(msg);
00160 }