mavlink_msg_radio_calibration.h

00001 // MESSAGE RADIO_CALIBRATION PACKING
00002 
00003 #define MAVLINK_MSG_ID_RADIO_CALIBRATION 221
00004 
00005 typedef struct __mavlink_radio_calibration_t 
00006 {
00007     uint16_t aileron[3]; ///< Aileron setpoints: left, center, right
00008     uint16_t elevator[3]; ///< Elevator setpoints: nose down, center, nose up
00009     uint16_t rudder[3]; ///< Rudder setpoints: nose left, center, nose right
00010     uint16_t gyro[2]; ///< Tail gyro mode/gain setpoints: heading hold, rate mode
00011     uint16_t pitch[5]; ///< Pitch curve setpoints (every 25%)
00012     uint16_t throttle[5]; ///< Throttle curve setpoints (every 25%)
00013 
00014 } mavlink_radio_calibration_t;
00015 
00016 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN 3
00017 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN 3
00018 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN 3
00019 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN 2
00020 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN 5
00021 #define MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN 5
00022 
00023 
00024 /**
00025  * @brief Pack a radio_calibration message
00026  * @param system_id ID of this system
00027  * @param component_id ID of this component (e.g. 200 for IMU)
00028  * @param msg The MAVLink message to compress the data into
00029  *
00030  * @param aileron Aileron setpoints: left, center, right
00031  * @param elevator Elevator setpoints: nose down, center, nose up
00032  * @param rudder Rudder setpoints: nose left, center, nose right
00033  * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
00034  * @param pitch Pitch curve setpoints (every 25%)
00035  * @param throttle Throttle curve setpoints (every 25%)
00036  * @return length of the message in bytes (excluding serial stream start sign)
00037  */
00038 static inline uint16_t mavlink_msg_radio_calibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
00039 {
00040     uint16_t i = 0;
00041     msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION;
00042 
00043     i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right
00044     i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up
00045     i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right
00046     i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode
00047     i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%)
00048     i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%)
00049 
00050     return mavlink_finalize_message(msg, system_id, component_id, i);
00051 }
00052 
00053 /**
00054  * @brief Pack a radio_calibration 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 aileron Aileron setpoints: left, center, right
00060  * @param elevator Elevator setpoints: nose down, center, nose up
00061  * @param rudder Rudder setpoints: nose left, center, nose right
00062  * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
00063  * @param pitch Pitch curve setpoints (every 25%)
00064  * @param throttle Throttle curve setpoints (every 25%)
00065  * @return length of the message in bytes (excluding serial stream start sign)
00066  */
00067 static inline uint16_t mavlink_msg_radio_calibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
00068 {
00069     uint16_t i = 0;
00070     msg->msgid = MAVLINK_MSG_ID_RADIO_CALIBRATION;
00071 
00072     i += put_array_by_index((const int8_t*)aileron, sizeof(uint16_t)*3, i, msg->payload); // Aileron setpoints: left, center, right
00073     i += put_array_by_index((const int8_t*)elevator, sizeof(uint16_t)*3, i, msg->payload); // Elevator setpoints: nose down, center, nose up
00074     i += put_array_by_index((const int8_t*)rudder, sizeof(uint16_t)*3, i, msg->payload); // Rudder setpoints: nose left, center, nose right
00075     i += put_array_by_index((const int8_t*)gyro, sizeof(uint16_t)*2, i, msg->payload); // Tail gyro mode/gain setpoints: heading hold, rate mode
00076     i += put_array_by_index((const int8_t*)pitch, sizeof(uint16_t)*5, i, msg->payload); // Pitch curve setpoints (every 25%)
00077     i += put_array_by_index((const int8_t*)throttle, sizeof(uint16_t)*5, i, msg->payload); // Throttle curve setpoints (every 25%)
00078 
00079     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00080 }
00081 
00082 /**
00083  * @brief Encode a radio_calibration struct into a message
00084  *
00085  * @param system_id ID of this system
00086  * @param component_id ID of this component (e.g. 200 for IMU)
00087  * @param msg The MAVLink message to compress the data into
00088  * @param radio_calibration C-struct to read the message contents from
00089  */
00090 static inline uint16_t mavlink_msg_radio_calibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_radio_calibration_t* radio_calibration)
00091 {
00092     return mavlink_msg_radio_calibration_pack(system_id, component_id, msg, radio_calibration->aileron, radio_calibration->elevator, radio_calibration->rudder, radio_calibration->gyro, radio_calibration->pitch, radio_calibration->throttle);
00093 }
00094 
00095 /**
00096  * @brief Send a radio_calibration message
00097  * @param chan MAVLink channel to send the message
00098  *
00099  * @param aileron Aileron setpoints: left, center, right
00100  * @param elevator Elevator setpoints: nose down, center, nose up
00101  * @param rudder Rudder setpoints: nose left, center, nose right
00102  * @param gyro Tail gyro mode/gain setpoints: heading hold, rate mode
00103  * @param pitch Pitch curve setpoints (every 25%)
00104  * @param throttle Throttle curve setpoints (every 25%)
00105  */
00106 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00107 
00108 static inline void mavlink_msg_radio_calibration_send(mavlink_channel_t chan, const uint16_t* aileron, const uint16_t* elevator, const uint16_t* rudder, const uint16_t* gyro, const uint16_t* pitch, const uint16_t* throttle)
00109 {
00110     mavlink_message_t msg;
00111     mavlink_msg_radio_calibration_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, aileron, elevator, rudder, gyro, pitch, throttle);
00112     mavlink_send_uart(chan, &msg);
00113 }
00114 
00115 #endif
00116 // MESSAGE RADIO_CALIBRATION UNPACKING
00117 
00118 /**
00119  * @brief Get field aileron from radio_calibration message
00120  *
00121  * @return Aileron setpoints: left, center, right
00122  */
00123 static inline uint16_t mavlink_msg_radio_calibration_get_aileron(const mavlink_message_t* msg, uint16_t* r_data)
00124 {
00125 
00126     memcpy(r_data, msg->payload, sizeof(uint16_t)*3);
00127     return sizeof(uint16_t)*3;
00128 }
00129 
00130 /**
00131  * @brief Get field elevator from radio_calibration message
00132  *
00133  * @return Elevator setpoints: nose down, center, nose up
00134  */
00135 static inline uint16_t mavlink_msg_radio_calibration_get_elevator(const mavlink_message_t* msg, uint16_t* r_data)
00136 {
00137 
00138     memcpy(r_data, msg->payload+sizeof(uint16_t)*3, sizeof(uint16_t)*3);
00139     return sizeof(uint16_t)*3;
00140 }
00141 
00142 /**
00143  * @brief Get field rudder from radio_calibration message
00144  *
00145  * @return Rudder setpoints: nose left, center, nose right
00146  */
00147 static inline uint16_t mavlink_msg_radio_calibration_get_rudder(const mavlink_message_t* msg, uint16_t* r_data)
00148 {
00149 
00150     memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*3);
00151     return sizeof(uint16_t)*3;
00152 }
00153 
00154 /**
00155  * @brief Get field gyro from radio_calibration message
00156  *
00157  * @return Tail gyro mode/gain setpoints: heading hold, rate mode
00158  */
00159 static inline uint16_t mavlink_msg_radio_calibration_get_gyro(const mavlink_message_t* msg, uint16_t* r_data)
00160 {
00161 
00162     memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3, sizeof(uint16_t)*2);
00163     return sizeof(uint16_t)*2;
00164 }
00165 
00166 /**
00167  * @brief Get field pitch from radio_calibration message
00168  *
00169  * @return Pitch curve setpoints (every 25%)
00170  */
00171 static inline uint16_t mavlink_msg_radio_calibration_get_pitch(const mavlink_message_t* msg, uint16_t* r_data)
00172 {
00173 
00174     memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2, sizeof(uint16_t)*5);
00175     return sizeof(uint16_t)*5;
00176 }
00177 
00178 /**
00179  * @brief Get field throttle from radio_calibration message
00180  *
00181  * @return Throttle curve setpoints (every 25%)
00182  */
00183 static inline uint16_t mavlink_msg_radio_calibration_get_throttle(const mavlink_message_t* msg, uint16_t* r_data)
00184 {
00185 
00186     memcpy(r_data, msg->payload+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*3+sizeof(uint16_t)*2+sizeof(uint16_t)*5, sizeof(uint16_t)*5);
00187     return sizeof(uint16_t)*5;
00188 }
00189 
00190 /**
00191  * @brief Decode a radio_calibration message into a struct
00192  *
00193  * @param msg The message to decode
00194  * @param radio_calibration C-struct to decode the message contents into
00195  */
00196 static inline void mavlink_msg_radio_calibration_decode(const mavlink_message_t* msg, mavlink_radio_calibration_t* radio_calibration)
00197 {
00198     mavlink_msg_radio_calibration_get_aileron(msg, radio_calibration->aileron);
00199     mavlink_msg_radio_calibration_get_elevator(msg, radio_calibration->elevator);
00200     mavlink_msg_radio_calibration_get_rudder(msg, radio_calibration->rudder);
00201     mavlink_msg_radio_calibration_get_gyro(msg, radio_calibration->gyro);
00202     mavlink_msg_radio_calibration_get_pitch(msg, radio_calibration->pitch);
00203     mavlink_msg_radio_calibration_get_throttle(msg, radio_calibration->throttle);
00204 }