Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
MAVlink/include/common/mavlink_msg_command.h@0:a6a169de725f, 2013-05-27 (annotated)
- Committer:
- shimniok
- Date:
- Mon May 27 13:26:03 2013 +0000
- Revision:
- 0:a6a169de725f
Working version with priorities set and update time display
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | // MESSAGE COMMAND PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_COMMAND 75 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_command_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint8_t target_system; ///< System which should execute the command |
shimniok | 0:a6a169de725f | 8 | uint8_t target_component; ///< Component which should execute the command, 0 for all components |
shimniok | 0:a6a169de725f | 9 | uint8_t command; ///< Command ID, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 10 | uint8_t confirmation; ///< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
shimniok | 0:a6a169de725f | 11 | float param1; ///< Parameter 1, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 12 | float param2; ///< Parameter 2, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 13 | float param3; ///< Parameter 3, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 14 | float param4; ///< Parameter 4, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 15 | |
shimniok | 0:a6a169de725f | 16 | } mavlink_command_t; |
shimniok | 0:a6a169de725f | 17 | |
shimniok | 0:a6a169de725f | 18 | |
shimniok | 0:a6a169de725f | 19 | |
shimniok | 0:a6a169de725f | 20 | /** |
shimniok | 0:a6a169de725f | 21 | * @brief Pack a command message |
shimniok | 0:a6a169de725f | 22 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 23 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 24 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 25 | * |
shimniok | 0:a6a169de725f | 26 | * @param target_system System which should execute the command |
shimniok | 0:a6a169de725f | 27 | * @param target_component Component which should execute the command, 0 for all components |
shimniok | 0:a6a169de725f | 28 | * @param command Command ID, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 29 | * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
shimniok | 0:a6a169de725f | 30 | * @param param1 Parameter 1, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 31 | * @param param2 Parameter 2, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 32 | * @param param3 Parameter 3, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 33 | * @param param4 Parameter 4, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 34 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 35 | */ |
shimniok | 0:a6a169de725f | 36 | static inline uint16_t mavlink_msg_command_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4) |
shimniok | 0:a6a169de725f | 37 | { |
shimniok | 0:a6a169de725f | 38 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 39 | msg->msgid = MAVLINK_MSG_ID_COMMAND; |
shimniok | 0:a6a169de725f | 40 | |
shimniok | 0:a6a169de725f | 41 | i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command |
shimniok | 0:a6a169de725f | 42 | i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components |
shimniok | 0:a6a169de725f | 43 | i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 44 | i += put_uint8_t_by_index(confirmation, i, msg->payload); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
shimniok | 0:a6a169de725f | 45 | i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 46 | i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 47 | i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 48 | i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 49 | |
shimniok | 0:a6a169de725f | 50 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 51 | } |
shimniok | 0:a6a169de725f | 52 | |
shimniok | 0:a6a169de725f | 53 | /** |
shimniok | 0:a6a169de725f | 54 | * @brief Pack a command message |
shimniok | 0:a6a169de725f | 55 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 56 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 57 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 58 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 59 | * @param target_system System which should execute the command |
shimniok | 0:a6a169de725f | 60 | * @param target_component Component which should execute the command, 0 for all components |
shimniok | 0:a6a169de725f | 61 | * @param command Command ID, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 62 | * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
shimniok | 0:a6a169de725f | 63 | * @param param1 Parameter 1, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 64 | * @param param2 Parameter 2, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 65 | * @param param3 Parameter 3, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 66 | * @param param4 Parameter 4, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 67 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 68 | */ |
shimniok | 0:a6a169de725f | 69 | static inline uint16_t mavlink_msg_command_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, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4) |
shimniok | 0:a6a169de725f | 70 | { |
shimniok | 0:a6a169de725f | 71 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 72 | msg->msgid = MAVLINK_MSG_ID_COMMAND; |
shimniok | 0:a6a169de725f | 73 | |
shimniok | 0:a6a169de725f | 74 | i += put_uint8_t_by_index(target_system, i, msg->payload); // System which should execute the command |
shimniok | 0:a6a169de725f | 75 | i += put_uint8_t_by_index(target_component, i, msg->payload); // Component which should execute the command, 0 for all components |
shimniok | 0:a6a169de725f | 76 | i += put_uint8_t_by_index(command, i, msg->payload); // Command ID, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 77 | i += put_uint8_t_by_index(confirmation, i, msg->payload); // 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
shimniok | 0:a6a169de725f | 78 | i += put_float_by_index(param1, i, msg->payload); // Parameter 1, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 79 | i += put_float_by_index(param2, i, msg->payload); // Parameter 2, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 80 | i += put_float_by_index(param3, i, msg->payload); // Parameter 3, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 81 | i += put_float_by_index(param4, i, msg->payload); // Parameter 4, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 82 | |
shimniok | 0:a6a169de725f | 83 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 84 | } |
shimniok | 0:a6a169de725f | 85 | |
shimniok | 0:a6a169de725f | 86 | /** |
shimniok | 0:a6a169de725f | 87 | * @brief Encode a command struct into a message |
shimniok | 0:a6a169de725f | 88 | * |
shimniok | 0:a6a169de725f | 89 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 90 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 91 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 92 | * @param command C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 93 | */ |
shimniok | 0:a6a169de725f | 94 | static inline uint16_t mavlink_msg_command_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_t* command) |
shimniok | 0:a6a169de725f | 95 | { |
shimniok | 0:a6a169de725f | 96 | return mavlink_msg_command_pack(system_id, component_id, msg, command->target_system, command->target_component, command->command, command->confirmation, command->param1, command->param2, command->param3, command->param4); |
shimniok | 0:a6a169de725f | 97 | } |
shimniok | 0:a6a169de725f | 98 | |
shimniok | 0:a6a169de725f | 99 | /** |
shimniok | 0:a6a169de725f | 100 | * @brief Send a command message |
shimniok | 0:a6a169de725f | 101 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 102 | * |
shimniok | 0:a6a169de725f | 103 | * @param target_system System which should execute the command |
shimniok | 0:a6a169de725f | 104 | * @param target_component Component which should execute the command, 0 for all components |
shimniok | 0:a6a169de725f | 105 | * @param command Command ID, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 106 | * @param confirmation 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
shimniok | 0:a6a169de725f | 107 | * @param param1 Parameter 1, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 108 | * @param param2 Parameter 2, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 109 | * @param param3 Parameter 3, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 110 | * @param param4 Parameter 4, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 111 | */ |
shimniok | 0:a6a169de725f | 112 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 113 | |
shimniok | 0:a6a169de725f | 114 | static inline void mavlink_msg_command_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t command, uint8_t confirmation, float param1, float param2, float param3, float param4) |
shimniok | 0:a6a169de725f | 115 | { |
shimniok | 0:a6a169de725f | 116 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 117 | mavlink_msg_command_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, command, confirmation, param1, param2, param3, param4); |
shimniok | 0:a6a169de725f | 118 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 119 | } |
shimniok | 0:a6a169de725f | 120 | |
shimniok | 0:a6a169de725f | 121 | #endif |
shimniok | 0:a6a169de725f | 122 | // MESSAGE COMMAND UNPACKING |
shimniok | 0:a6a169de725f | 123 | |
shimniok | 0:a6a169de725f | 124 | /** |
shimniok | 0:a6a169de725f | 125 | * @brief Get field target_system from command message |
shimniok | 0:a6a169de725f | 126 | * |
shimniok | 0:a6a169de725f | 127 | * @return System which should execute the command |
shimniok | 0:a6a169de725f | 128 | */ |
shimniok | 0:a6a169de725f | 129 | static inline uint8_t mavlink_msg_command_get_target_system(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 130 | { |
shimniok | 0:a6a169de725f | 131 | return (uint8_t)(msg->payload)[0]; |
shimniok | 0:a6a169de725f | 132 | } |
shimniok | 0:a6a169de725f | 133 | |
shimniok | 0:a6a169de725f | 134 | /** |
shimniok | 0:a6a169de725f | 135 | * @brief Get field target_component from command message |
shimniok | 0:a6a169de725f | 136 | * |
shimniok | 0:a6a169de725f | 137 | * @return Component which should execute the command, 0 for all components |
shimniok | 0:a6a169de725f | 138 | */ |
shimniok | 0:a6a169de725f | 139 | static inline uint8_t mavlink_msg_command_get_target_component(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 140 | { |
shimniok | 0:a6a169de725f | 141 | return (uint8_t)(msg->payload+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 142 | } |
shimniok | 0:a6a169de725f | 143 | |
shimniok | 0:a6a169de725f | 144 | /** |
shimniok | 0:a6a169de725f | 145 | * @brief Get field command from command message |
shimniok | 0:a6a169de725f | 146 | * |
shimniok | 0:a6a169de725f | 147 | * @return Command ID, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 148 | */ |
shimniok | 0:a6a169de725f | 149 | static inline uint8_t mavlink_msg_command_get_command(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 150 | { |
shimniok | 0:a6a169de725f | 151 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 152 | } |
shimniok | 0:a6a169de725f | 153 | |
shimniok | 0:a6a169de725f | 154 | /** |
shimniok | 0:a6a169de725f | 155 | * @brief Get field confirmation from command message |
shimniok | 0:a6a169de725f | 156 | * |
shimniok | 0:a6a169de725f | 157 | * @return 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command) |
shimniok | 0:a6a169de725f | 158 | */ |
shimniok | 0:a6a169de725f | 159 | static inline uint8_t mavlink_msg_command_get_confirmation(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 160 | { |
shimniok | 0:a6a169de725f | 161 | return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 162 | } |
shimniok | 0:a6a169de725f | 163 | |
shimniok | 0:a6a169de725f | 164 | /** |
shimniok | 0:a6a169de725f | 165 | * @brief Get field param1 from command message |
shimniok | 0:a6a169de725f | 166 | * |
shimniok | 0:a6a169de725f | 167 | * @return Parameter 1, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 168 | */ |
shimniok | 0:a6a169de725f | 169 | static inline float mavlink_msg_command_get_param1(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 170 | { |
shimniok | 0:a6a169de725f | 171 | generic_32bit r; |
shimniok | 0:a6a169de725f | 172 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0]; |
shimniok | 0:a6a169de725f | 173 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1]; |
shimniok | 0:a6a169de725f | 174 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2]; |
shimniok | 0:a6a169de725f | 175 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3]; |
shimniok | 0:a6a169de725f | 176 | return (float)r.f; |
shimniok | 0:a6a169de725f | 177 | } |
shimniok | 0:a6a169de725f | 178 | |
shimniok | 0:a6a169de725f | 179 | /** |
shimniok | 0:a6a169de725f | 180 | * @brief Get field param2 from command message |
shimniok | 0:a6a169de725f | 181 | * |
shimniok | 0:a6a169de725f | 182 | * @return Parameter 2, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 183 | */ |
shimniok | 0:a6a169de725f | 184 | static inline float mavlink_msg_command_get_param2(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 185 | { |
shimniok | 0:a6a169de725f | 186 | generic_32bit r; |
shimniok | 0:a6a169de725f | 187 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 188 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 189 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 190 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 191 | return (float)r.f; |
shimniok | 0:a6a169de725f | 192 | } |
shimniok | 0:a6a169de725f | 193 | |
shimniok | 0:a6a169de725f | 194 | /** |
shimniok | 0:a6a169de725f | 195 | * @brief Get field param3 from command message |
shimniok | 0:a6a169de725f | 196 | * |
shimniok | 0:a6a169de725f | 197 | * @return Parameter 3, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 198 | */ |
shimniok | 0:a6a169de725f | 199 | static inline float mavlink_msg_command_get_param3(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 200 | { |
shimniok | 0:a6a169de725f | 201 | generic_32bit r; |
shimniok | 0:a6a169de725f | 202 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 203 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 204 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 205 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 206 | return (float)r.f; |
shimniok | 0:a6a169de725f | 207 | } |
shimniok | 0:a6a169de725f | 208 | |
shimniok | 0:a6a169de725f | 209 | /** |
shimniok | 0:a6a169de725f | 210 | * @brief Get field param4 from command message |
shimniok | 0:a6a169de725f | 211 | * |
shimniok | 0:a6a169de725f | 212 | * @return Parameter 4, as defined by MAV_CMD enum. |
shimniok | 0:a6a169de725f | 213 | */ |
shimniok | 0:a6a169de725f | 214 | static inline float mavlink_msg_command_get_param4(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 215 | { |
shimniok | 0:a6a169de725f | 216 | generic_32bit r; |
shimniok | 0:a6a169de725f | 217 | r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 218 | r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 219 | r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 220 | r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 221 | return (float)r.f; |
shimniok | 0:a6a169de725f | 222 | } |
shimniok | 0:a6a169de725f | 223 | |
shimniok | 0:a6a169de725f | 224 | /** |
shimniok | 0:a6a169de725f | 225 | * @brief Decode a command message into a struct |
shimniok | 0:a6a169de725f | 226 | * |
shimniok | 0:a6a169de725f | 227 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 228 | * @param command C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 229 | */ |
shimniok | 0:a6a169de725f | 230 | static inline void mavlink_msg_command_decode(const mavlink_message_t* msg, mavlink_command_t* command) |
shimniok | 0:a6a169de725f | 231 | { |
shimniok | 0:a6a169de725f | 232 | command->target_system = mavlink_msg_command_get_target_system(msg); |
shimniok | 0:a6a169de725f | 233 | command->target_component = mavlink_msg_command_get_target_component(msg); |
shimniok | 0:a6a169de725f | 234 | command->command = mavlink_msg_command_get_command(msg); |
shimniok | 0:a6a169de725f | 235 | command->confirmation = mavlink_msg_command_get_confirmation(msg); |
shimniok | 0:a6a169de725f | 236 | command->param1 = mavlink_msg_command_get_param1(msg); |
shimniok | 0:a6a169de725f | 237 | command->param2 = mavlink_msg_command_get_param2(msg); |
shimniok | 0:a6a169de725f | 238 | command->param3 = mavlink_msg_command_get_param3(msg); |
shimniok | 0:a6a169de725f | 239 | command->param4 = mavlink_msg_command_get_param4(msg); |
shimniok | 0:a6a169de725f | 240 | } |