mavlink_msg_slugs_navigation.h

00001 // MESSAGE SLUGS_NAVIGATION PACKING
00002 
00003 #define MAVLINK_MSG_ID_SLUGS_NAVIGATION 176
00004 
00005 typedef struct __mavlink_slugs_navigation_t 
00006 {
00007     float u_m; ///< Measured Airspeed prior to the Nav Filter
00008     float phi_c; ///< Commanded Roll
00009     float theta_c; ///< Commanded Pitch
00010     float psiDot_c; ///< Commanded Turn rate
00011     float ay_body; ///< Y component of the body acceleration
00012     float totalDist; ///< Total Distance to Run on this leg of Navigation
00013     float dist2Go; ///< Remaining distance to Run on this leg of Navigation
00014     uint8_t fromWP; ///< Origin WP
00015     uint8_t toWP; ///< Destination WP
00016 
00017 } mavlink_slugs_navigation_t;
00018 
00019 
00020 
00021 /**
00022  * @brief Pack a slugs_navigation message
00023  * @param system_id ID of this system
00024  * @param component_id ID of this component (e.g. 200 for IMU)
00025  * @param msg The MAVLink message to compress the data into
00026  *
00027  * @param u_m Measured Airspeed prior to the Nav Filter
00028  * @param phi_c Commanded Roll
00029  * @param theta_c Commanded Pitch
00030  * @param psiDot_c Commanded Turn rate
00031  * @param ay_body Y component of the body acceleration
00032  * @param totalDist Total Distance to Run on this leg of Navigation
00033  * @param dist2Go Remaining distance to Run on this leg of Navigation
00034  * @param fromWP Origin WP
00035  * @param toWP Destination WP
00036  * @return length of the message in bytes (excluding serial stream start sign)
00037  */
00038 static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP)
00039 {
00040     uint16_t i = 0;
00041     msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION;
00042 
00043     i += put_float_by_index(u_m, i, msg->payload); // Measured Airspeed prior to the Nav Filter
00044     i += put_float_by_index(phi_c, i, msg->payload); // Commanded Roll
00045     i += put_float_by_index(theta_c, i, msg->payload); // Commanded Pitch
00046     i += put_float_by_index(psiDot_c, i, msg->payload); // Commanded Turn rate
00047     i += put_float_by_index(ay_body, i, msg->payload); // Y component of the body acceleration
00048     i += put_float_by_index(totalDist, i, msg->payload); // Total Distance to Run on this leg of Navigation
00049     i += put_float_by_index(dist2Go, i, msg->payload); // Remaining distance to Run on this leg of Navigation
00050     i += put_uint8_t_by_index(fromWP, i, msg->payload); // Origin WP
00051     i += put_uint8_t_by_index(toWP, i, msg->payload); // Destination WP
00052 
00053     return mavlink_finalize_message(msg, system_id, component_id, i);
00054 }
00055 
00056 /**
00057  * @brief Pack a slugs_navigation message
00058  * @param system_id ID of this system
00059  * @param component_id ID of this component (e.g. 200 for IMU)
00060  * @param chan The MAVLink channel this message was sent over
00061  * @param msg The MAVLink message to compress the data into
00062  * @param u_m Measured Airspeed prior to the Nav Filter
00063  * @param phi_c Commanded Roll
00064  * @param theta_c Commanded Pitch
00065  * @param psiDot_c Commanded Turn rate
00066  * @param ay_body Y component of the body acceleration
00067  * @param totalDist Total Distance to Run on this leg of Navigation
00068  * @param dist2Go Remaining distance to Run on this leg of Navigation
00069  * @param fromWP Origin WP
00070  * @param toWP Destination WP
00071  * @return length of the message in bytes (excluding serial stream start sign)
00072  */
00073 static inline uint16_t mavlink_msg_slugs_navigation_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP)
00074 {
00075     uint16_t i = 0;
00076     msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION;
00077 
00078     i += put_float_by_index(u_m, i, msg->payload); // Measured Airspeed prior to the Nav Filter
00079     i += put_float_by_index(phi_c, i, msg->payload); // Commanded Roll
00080     i += put_float_by_index(theta_c, i, msg->payload); // Commanded Pitch
00081     i += put_float_by_index(psiDot_c, i, msg->payload); // Commanded Turn rate
00082     i += put_float_by_index(ay_body, i, msg->payload); // Y component of the body acceleration
00083     i += put_float_by_index(totalDist, i, msg->payload); // Total Distance to Run on this leg of Navigation
00084     i += put_float_by_index(dist2Go, i, msg->payload); // Remaining distance to Run on this leg of Navigation
00085     i += put_uint8_t_by_index(fromWP, i, msg->payload); // Origin WP
00086     i += put_uint8_t_by_index(toWP, i, msg->payload); // Destination WP
00087 
00088     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00089 }
00090 
00091 /**
00092  * @brief Encode a slugs_navigation struct into a message
00093  *
00094  * @param system_id ID of this system
00095  * @param component_id ID of this component (e.g. 200 for IMU)
00096  * @param msg The MAVLink message to compress the data into
00097  * @param slugs_navigation C-struct to read the message contents from
00098  */
00099 static inline uint16_t mavlink_msg_slugs_navigation_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_slugs_navigation_t* slugs_navigation)
00100 {
00101     return mavlink_msg_slugs_navigation_pack(system_id, component_id, msg, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP);
00102 }
00103 
00104 /**
00105  * @brief Send a slugs_navigation message
00106  * @param chan MAVLink channel to send the message
00107  *
00108  * @param u_m Measured Airspeed prior to the Nav Filter
00109  * @param phi_c Commanded Roll
00110  * @param theta_c Commanded Pitch
00111  * @param psiDot_c Commanded Turn rate
00112  * @param ay_body Y component of the body acceleration
00113  * @param totalDist Total Distance to Run on this leg of Navigation
00114  * @param dist2Go Remaining distance to Run on this leg of Navigation
00115  * @param fromWP Origin WP
00116  * @param toWP Destination WP
00117  */
00118 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00119 
00120 static inline void mavlink_msg_slugs_navigation_send(mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP)
00121 {
00122     mavlink_message_t msg;
00123     mavlink_msg_slugs_navigation_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, u_m, phi_c, theta_c, psiDot_c, ay_body, totalDist, dist2Go, fromWP, toWP);
00124     mavlink_send_uart(chan, &msg);
00125 }
00126 
00127 #endif
00128 // MESSAGE SLUGS_NAVIGATION UNPACKING
00129 
00130 /**
00131  * @brief Get field u_m from slugs_navigation message
00132  *
00133  * @return Measured Airspeed prior to the Nav Filter
00134  */
00135 static inline float mavlink_msg_slugs_navigation_get_u_m(const mavlink_message_t* msg)
00136 {
00137     generic_32bit r;
00138     r.b[3] = (msg->payload)[0];
00139     r.b[2] = (msg->payload)[1];
00140     r.b[1] = (msg->payload)[2];
00141     r.b[0] = (msg->payload)[3];
00142     return (float)r.f;
00143 }
00144 
00145 /**
00146  * @brief Get field phi_c from slugs_navigation message
00147  *
00148  * @return Commanded Roll
00149  */
00150 static inline float mavlink_msg_slugs_navigation_get_phi_c(const mavlink_message_t* msg)
00151 {
00152     generic_32bit r;
00153     r.b[3] = (msg->payload+sizeof(float))[0];
00154     r.b[2] = (msg->payload+sizeof(float))[1];
00155     r.b[1] = (msg->payload+sizeof(float))[2];
00156     r.b[0] = (msg->payload+sizeof(float))[3];
00157     return (float)r.f;
00158 }
00159 
00160 /**
00161  * @brief Get field theta_c from slugs_navigation message
00162  *
00163  * @return Commanded Pitch
00164  */
00165 static inline float mavlink_msg_slugs_navigation_get_theta_c(const mavlink_message_t* msg)
00166 {
00167     generic_32bit r;
00168     r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
00169     r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
00170     r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
00171     r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
00172     return (float)r.f;
00173 }
00174 
00175 /**
00176  * @brief Get field psiDot_c from slugs_navigation message
00177  *
00178  * @return Commanded Turn rate
00179  */
00180 static inline float mavlink_msg_slugs_navigation_get_psiDot_c(const mavlink_message_t* msg)
00181 {
00182     generic_32bit r;
00183     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
00184     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
00185     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
00186     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
00187     return (float)r.f;
00188 }
00189 
00190 /**
00191  * @brief Get field ay_body from slugs_navigation message
00192  *
00193  * @return Y component of the body acceleration
00194  */
00195 static inline float mavlink_msg_slugs_navigation_get_ay_body(const mavlink_message_t* msg)
00196 {
00197     generic_32bit r;
00198     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00199     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00200     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00201     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00202     return (float)r.f;
00203 }
00204 
00205 /**
00206  * @brief Get field totalDist from slugs_navigation message
00207  *
00208  * @return Total Distance to Run on this leg of Navigation
00209  */
00210 static inline float mavlink_msg_slugs_navigation_get_totalDist(const mavlink_message_t* msg)
00211 {
00212     generic_32bit r;
00213     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00214     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00215     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00216     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00217     return (float)r.f;
00218 }
00219 
00220 /**
00221  * @brief Get field dist2Go from slugs_navigation message
00222  *
00223  * @return Remaining distance to Run on this leg of Navigation
00224  */
00225 static inline float mavlink_msg_slugs_navigation_get_dist2Go(const mavlink_message_t* msg)
00226 {
00227     generic_32bit r;
00228     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00229     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00230     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00231     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00232     return (float)r.f;
00233 }
00234 
00235 /**
00236  * @brief Get field fromWP from slugs_navigation message
00237  *
00238  * @return Origin WP
00239  */
00240 static inline uint8_t mavlink_msg_slugs_navigation_get_fromWP(const mavlink_message_t* msg)
00241 {
00242     return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00243 }
00244 
00245 /**
00246  * @brief Get field toWP from slugs_navigation message
00247  *
00248  * @return Destination WP
00249  */
00250 static inline uint8_t mavlink_msg_slugs_navigation_get_toWP(const mavlink_message_t* msg)
00251 {
00252     return (uint8_t)(msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(uint8_t))[0];
00253 }
00254 
00255 /**
00256  * @brief Decode a slugs_navigation message into a struct
00257  *
00258  * @param msg The message to decode
00259  * @param slugs_navigation C-struct to decode the message contents into
00260  */
00261 static inline void mavlink_msg_slugs_navigation_decode(const mavlink_message_t* msg, mavlink_slugs_navigation_t* slugs_navigation)
00262 {
00263     slugs_navigation->u_m = mavlink_msg_slugs_navigation_get_u_m(msg);
00264     slugs_navigation->phi_c = mavlink_msg_slugs_navigation_get_phi_c(msg);
00265     slugs_navigation->theta_c = mavlink_msg_slugs_navigation_get_theta_c(msg);
00266     slugs_navigation->psiDot_c = mavlink_msg_slugs_navigation_get_psiDot_c(msg);
00267     slugs_navigation->ay_body = mavlink_msg_slugs_navigation_get_ay_body(msg);
00268     slugs_navigation->totalDist = mavlink_msg_slugs_navigation_get_totalDist(msg);
00269     slugs_navigation->dist2Go = mavlink_msg_slugs_navigation_get_dist2Go(msg);
00270     slugs_navigation->fromWP = mavlink_msg_slugs_navigation_get_fromWP(msg);
00271     slugs_navigation->toWP = mavlink_msg_slugs_navigation_get_toWP(msg);
00272 }