Michael Shimniok / Mbed 2 deprecated DataBus

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_waypoint.h@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:a6a169de725f 1 // MESSAGE WAYPOINT PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_WAYPOINT 39
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_waypoint_t
shimniok 0:a6a169de725f 6 {
shimniok 0:a6a169de725f 7 uint8_t target_system; ///< System ID
shimniok 0:a6a169de725f 8 uint8_t target_component; ///< Component ID
shimniok 0:a6a169de725f 9 uint16_t seq; ///< Sequence
shimniok 0:a6a169de725f 10 uint8_t frame; ///< The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
shimniok 0:a6a169de725f 11 uint8_t command; ///< The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
shimniok 0:a6a169de725f 12 uint8_t current; ///< false:0, true:1
shimniok 0:a6a169de725f 13 uint8_t autocontinue; ///< autocontinue to next wp
shimniok 0:a6a169de725f 14 float param1; ///< PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
shimniok 0:a6a169de725f 15 float param2; ///< PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
shimniok 0:a6a169de725f 16 float param3; ///< PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
shimniok 0:a6a169de725f 17 float param4; ///< PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
shimniok 0:a6a169de725f 18 float x; ///< PARAM5 / local: x position, global: latitude
shimniok 0:a6a169de725f 19 float y; ///< PARAM6 / y position: global: longitude
shimniok 0:a6a169de725f 20 float z; ///< PARAM7 / z position: global: altitude
shimniok 0:a6a169de725f 21
shimniok 0:a6a169de725f 22 } mavlink_waypoint_t;
shimniok 0:a6a169de725f 23
shimniok 0:a6a169de725f 24
shimniok 0:a6a169de725f 25
shimniok 0:a6a169de725f 26 /**
shimniok 0:a6a169de725f 27 * @brief Pack a waypoint message
shimniok 0:a6a169de725f 28 * @param system_id ID of this system
shimniok 0:a6a169de725f 29 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 30 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 31 *
shimniok 0:a6a169de725f 32 * @param target_system System ID
shimniok 0:a6a169de725f 33 * @param target_component Component ID
shimniok 0:a6a169de725f 34 * @param seq Sequence
shimniok 0:a6a169de725f 35 * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
shimniok 0:a6a169de725f 36 * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
shimniok 0:a6a169de725f 37 * @param current false:0, true:1
shimniok 0:a6a169de725f 38 * @param autocontinue autocontinue to next wp
shimniok 0:a6a169de725f 39 * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
shimniok 0:a6a169de725f 40 * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
shimniok 0:a6a169de725f 41 * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
shimniok 0:a6a169de725f 42 * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
shimniok 0:a6a169de725f 43 * @param x PARAM5 / local: x position, global: latitude
shimniok 0:a6a169de725f 44 * @param y PARAM6 / y position: global: longitude
shimniok 0:a6a169de725f 45 * @param z PARAM7 / z position: global: altitude
shimniok 0:a6a169de725f 46 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 47 */
shimniok 0:a6a169de725f 48 static inline uint16_t mavlink_msg_waypoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
shimniok 0:a6a169de725f 49 {
shimniok 0:a6a169de725f 50 uint16_t i = 0;
shimniok 0:a6a169de725f 51 msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
shimniok 0:a6a169de725f 52
shimniok 0:a6a169de725f 53 i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
shimniok 0:a6a169de725f 54 i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
shimniok 0:a6a169de725f 55 i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
shimniok 0:a6a169de725f 56 i += put_uint8_t_by_index(frame, i, msg->payload); // The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
shimniok 0:a6a169de725f 57 i += put_uint8_t_by_index(command, i, msg->payload); // The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
shimniok 0:a6a169de725f 58 i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1
shimniok 0:a6a169de725f 59 i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp
shimniok 0:a6a169de725f 60 i += put_float_by_index(param1, i, msg->payload); // PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
shimniok 0:a6a169de725f 61 i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
shimniok 0:a6a169de725f 62 i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
shimniok 0:a6a169de725f 63 i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
shimniok 0:a6a169de725f 64 i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude
shimniok 0:a6a169de725f 65 i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude
shimniok 0:a6a169de725f 66 i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude
shimniok 0:a6a169de725f 67
shimniok 0:a6a169de725f 68 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 69 }
shimniok 0:a6a169de725f 70
shimniok 0:a6a169de725f 71 /**
shimniok 0:a6a169de725f 72 * @brief Pack a waypoint message
shimniok 0:a6a169de725f 73 * @param system_id ID of this system
shimniok 0:a6a169de725f 74 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 75 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 76 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 77 * @param target_system System ID
shimniok 0:a6a169de725f 78 * @param target_component Component ID
shimniok 0:a6a169de725f 79 * @param seq Sequence
shimniok 0:a6a169de725f 80 * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
shimniok 0:a6a169de725f 81 * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
shimniok 0:a6a169de725f 82 * @param current false:0, true:1
shimniok 0:a6a169de725f 83 * @param autocontinue autocontinue to next wp
shimniok 0:a6a169de725f 84 * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
shimniok 0:a6a169de725f 85 * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
shimniok 0:a6a169de725f 86 * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
shimniok 0:a6a169de725f 87 * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
shimniok 0:a6a169de725f 88 * @param x PARAM5 / local: x position, global: latitude
shimniok 0:a6a169de725f 89 * @param y PARAM6 / y position: global: longitude
shimniok 0:a6a169de725f 90 * @param z PARAM7 / z position: global: altitude
shimniok 0:a6a169de725f 91 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 92 */
shimniok 0:a6a169de725f 93 static inline uint16_t mavlink_msg_waypoint_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, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
shimniok 0:a6a169de725f 94 {
shimniok 0:a6a169de725f 95 uint16_t i = 0;
shimniok 0:a6a169de725f 96 msg->msgid = MAVLINK_MSG_ID_WAYPOINT;
shimniok 0:a6a169de725f 97
shimniok 0:a6a169de725f 98 i += put_uint8_t_by_index(target_system, i, msg->payload); // System ID
shimniok 0:a6a169de725f 99 i += put_uint8_t_by_index(target_component, i, msg->payload); // Component ID
shimniok 0:a6a169de725f 100 i += put_uint16_t_by_index(seq, i, msg->payload); // Sequence
shimniok 0:a6a169de725f 101 i += put_uint8_t_by_index(frame, i, msg->payload); // The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
shimniok 0:a6a169de725f 102 i += put_uint8_t_by_index(command, i, msg->payload); // The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
shimniok 0:a6a169de725f 103 i += put_uint8_t_by_index(current, i, msg->payload); // false:0, true:1
shimniok 0:a6a169de725f 104 i += put_uint8_t_by_index(autocontinue, i, msg->payload); // autocontinue to next wp
shimniok 0:a6a169de725f 105 i += put_float_by_index(param1, i, msg->payload); // PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
shimniok 0:a6a169de725f 106 i += put_float_by_index(param2, i, msg->payload); // PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
shimniok 0:a6a169de725f 107 i += put_float_by_index(param3, i, msg->payload); // PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
shimniok 0:a6a169de725f 108 i += put_float_by_index(param4, i, msg->payload); // PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
shimniok 0:a6a169de725f 109 i += put_float_by_index(x, i, msg->payload); // PARAM5 / local: x position, global: latitude
shimniok 0:a6a169de725f 110 i += put_float_by_index(y, i, msg->payload); // PARAM6 / y position: global: longitude
shimniok 0:a6a169de725f 111 i += put_float_by_index(z, i, msg->payload); // PARAM7 / z position: global: altitude
shimniok 0:a6a169de725f 112
shimniok 0:a6a169de725f 113 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 114 }
shimniok 0:a6a169de725f 115
shimniok 0:a6a169de725f 116 /**
shimniok 0:a6a169de725f 117 * @brief Encode a waypoint struct into a message
shimniok 0:a6a169de725f 118 *
shimniok 0:a6a169de725f 119 * @param system_id ID of this system
shimniok 0:a6a169de725f 120 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 121 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 122 * @param waypoint C-struct to read the message contents from
shimniok 0:a6a169de725f 123 */
shimniok 0:a6a169de725f 124 static inline uint16_t mavlink_msg_waypoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_waypoint_t* waypoint)
shimniok 0:a6a169de725f 125 {
shimniok 0:a6a169de725f 126 return mavlink_msg_waypoint_pack(system_id, component_id, msg, waypoint->target_system, waypoint->target_component, waypoint->seq, waypoint->frame, waypoint->command, waypoint->current, waypoint->autocontinue, waypoint->param1, waypoint->param2, waypoint->param3, waypoint->param4, waypoint->x, waypoint->y, waypoint->z);
shimniok 0:a6a169de725f 127 }
shimniok 0:a6a169de725f 128
shimniok 0:a6a169de725f 129 /**
shimniok 0:a6a169de725f 130 * @brief Send a waypoint message
shimniok 0:a6a169de725f 131 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 132 *
shimniok 0:a6a169de725f 133 * @param target_system System ID
shimniok 0:a6a169de725f 134 * @param target_component Component ID
shimniok 0:a6a169de725f 135 * @param seq Sequence
shimniok 0:a6a169de725f 136 * @param frame The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
shimniok 0:a6a169de725f 137 * @param command The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
shimniok 0:a6a169de725f 138 * @param current false:0, true:1
shimniok 0:a6a169de725f 139 * @param autocontinue autocontinue to next wp
shimniok 0:a6a169de725f 140 * @param param1 PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
shimniok 0:a6a169de725f 141 * @param param2 PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
shimniok 0:a6a169de725f 142 * @param param3 PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
shimniok 0:a6a169de725f 143 * @param param4 PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
shimniok 0:a6a169de725f 144 * @param x PARAM5 / local: x position, global: latitude
shimniok 0:a6a169de725f 145 * @param y PARAM6 / y position: global: longitude
shimniok 0:a6a169de725f 146 * @param z PARAM7 / z position: global: altitude
shimniok 0:a6a169de725f 147 */
shimniok 0:a6a169de725f 148 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 149
shimniok 0:a6a169de725f 150 static inline void mavlink_msg_waypoint_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t seq, uint8_t frame, uint8_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, float x, float y, float z)
shimniok 0:a6a169de725f 151 {
shimniok 0:a6a169de725f 152 mavlink_message_t msg;
shimniok 0:a6a169de725f 153 mavlink_msg_waypoint_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, target_system, target_component, seq, frame, command, current, autocontinue, param1, param2, param3, param4, x, y, z);
shimniok 0:a6a169de725f 154 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 155 }
shimniok 0:a6a169de725f 156
shimniok 0:a6a169de725f 157 #endif
shimniok 0:a6a169de725f 158 // MESSAGE WAYPOINT UNPACKING
shimniok 0:a6a169de725f 159
shimniok 0:a6a169de725f 160 /**
shimniok 0:a6a169de725f 161 * @brief Get field target_system from waypoint message
shimniok 0:a6a169de725f 162 *
shimniok 0:a6a169de725f 163 * @return System ID
shimniok 0:a6a169de725f 164 */
shimniok 0:a6a169de725f 165 static inline uint8_t mavlink_msg_waypoint_get_target_system(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 166 {
shimniok 0:a6a169de725f 167 return (uint8_t)(msg->payload)[0];
shimniok 0:a6a169de725f 168 }
shimniok 0:a6a169de725f 169
shimniok 0:a6a169de725f 170 /**
shimniok 0:a6a169de725f 171 * @brief Get field target_component from waypoint message
shimniok 0:a6a169de725f 172 *
shimniok 0:a6a169de725f 173 * @return Component ID
shimniok 0:a6a169de725f 174 */
shimniok 0:a6a169de725f 175 static inline uint8_t mavlink_msg_waypoint_get_target_component(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 176 {
shimniok 0:a6a169de725f 177 return (uint8_t)(msg->payload+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 178 }
shimniok 0:a6a169de725f 179
shimniok 0:a6a169de725f 180 /**
shimniok 0:a6a169de725f 181 * @brief Get field seq from waypoint message
shimniok 0:a6a169de725f 182 *
shimniok 0:a6a169de725f 183 * @return Sequence
shimniok 0:a6a169de725f 184 */
shimniok 0:a6a169de725f 185 static inline uint16_t mavlink_msg_waypoint_get_seq(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 186 {
shimniok 0:a6a169de725f 187 generic_16bit r;
shimniok 0:a6a169de725f 188 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 189 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 190 return (uint16_t)r.s;
shimniok 0:a6a169de725f 191 }
shimniok 0:a6a169de725f 192
shimniok 0:a6a169de725f 193 /**
shimniok 0:a6a169de725f 194 * @brief Get field frame from waypoint message
shimniok 0:a6a169de725f 195 *
shimniok 0:a6a169de725f 196 * @return The coordinate system of the waypoint. see MAV_FRAME in mavlink_types.h
shimniok 0:a6a169de725f 197 */
shimniok 0:a6a169de725f 198 static inline uint8_t mavlink_msg_waypoint_get_frame(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 199 {
shimniok 0:a6a169de725f 200 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t))[0];
shimniok 0:a6a169de725f 201 }
shimniok 0:a6a169de725f 202
shimniok 0:a6a169de725f 203 /**
shimniok 0:a6a169de725f 204 * @brief Get field command from waypoint message
shimniok 0:a6a169de725f 205 *
shimniok 0:a6a169de725f 206 * @return The scheduled action for the waypoint. see MAV_COMMAND in common.xml MAVLink specs
shimniok 0:a6a169de725f 207 */
shimniok 0:a6a169de725f 208 static inline uint8_t mavlink_msg_waypoint_get_command(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 209 {
shimniok 0:a6a169de725f 210 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 211 }
shimniok 0:a6a169de725f 212
shimniok 0:a6a169de725f 213 /**
shimniok 0:a6a169de725f 214 * @brief Get field current from waypoint message
shimniok 0:a6a169de725f 215 *
shimniok 0:a6a169de725f 216 * @return false:0, true:1
shimniok 0:a6a169de725f 217 */
shimniok 0:a6a169de725f 218 static inline uint8_t mavlink_msg_waypoint_get_current(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 219 {
shimniok 0:a6a169de725f 220 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 221 }
shimniok 0:a6a169de725f 222
shimniok 0:a6a169de725f 223 /**
shimniok 0:a6a169de725f 224 * @brief Get field autocontinue from waypoint message
shimniok 0:a6a169de725f 225 *
shimniok 0:a6a169de725f 226 * @return autocontinue to next wp
shimniok 0:a6a169de725f 227 */
shimniok 0:a6a169de725f 228 static inline uint8_t mavlink_msg_waypoint_get_autocontinue(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 229 {
shimniok 0:a6a169de725f 230 return (uint8_t)(msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 231 }
shimniok 0:a6a169de725f 232
shimniok 0:a6a169de725f 233 /**
shimniok 0:a6a169de725f 234 * @brief Get field param1 from waypoint message
shimniok 0:a6a169de725f 235 *
shimniok 0:a6a169de725f 236 * @return PARAM1 / For NAV command waypoints: Radius in which the waypoint is accepted as reached, in meters
shimniok 0:a6a169de725f 237 */
shimniok 0:a6a169de725f 238 static inline float mavlink_msg_waypoint_get_param1(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 239 {
shimniok 0:a6a169de725f 240 generic_32bit r;
shimniok 0:a6a169de725f 241 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[0];
shimniok 0:a6a169de725f 242 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[1];
shimniok 0:a6a169de725f 243 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[2];
shimniok 0:a6a169de725f 244 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t))[3];
shimniok 0:a6a169de725f 245 return (float)r.f;
shimniok 0:a6a169de725f 246 }
shimniok 0:a6a169de725f 247
shimniok 0:a6a169de725f 248 /**
shimniok 0:a6a169de725f 249 * @brief Get field param2 from waypoint message
shimniok 0:a6a169de725f 250 *
shimniok 0:a6a169de725f 251 * @return PARAM2 / For NAV command waypoints: Time that the MAV should stay inside the PARAM1 radius before advancing, in milliseconds
shimniok 0:a6a169de725f 252 */
shimniok 0:a6a169de725f 253 static inline float mavlink_msg_waypoint_get_param2(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 254 {
shimniok 0:a6a169de725f 255 generic_32bit r;
shimniok 0:a6a169de725f 256 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[0];
shimniok 0:a6a169de725f 257 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[1];
shimniok 0:a6a169de725f 258 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[2];
shimniok 0:a6a169de725f 259 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float))[3];
shimniok 0:a6a169de725f 260 return (float)r.f;
shimniok 0:a6a169de725f 261 }
shimniok 0:a6a169de725f 262
shimniok 0:a6a169de725f 263 /**
shimniok 0:a6a169de725f 264 * @brief Get field param3 from waypoint message
shimniok 0:a6a169de725f 265 *
shimniok 0:a6a169de725f 266 * @return PARAM3 / For LOITER command waypoints: Orbit to circle around the waypoint, in meters. If positive the orbit direction should be clockwise, if negative the orbit direction should be counter-clockwise.
shimniok 0:a6a169de725f 267 */
shimniok 0:a6a169de725f 268 static inline float mavlink_msg_waypoint_get_param3(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 269 {
shimniok 0:a6a169de725f 270 generic_32bit r;
shimniok 0:a6a169de725f 271 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 272 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 273 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 274 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 275 return (float)r.f;
shimniok 0:a6a169de725f 276 }
shimniok 0:a6a169de725f 277
shimniok 0:a6a169de725f 278 /**
shimniok 0:a6a169de725f 279 * @brief Get field param4 from waypoint message
shimniok 0:a6a169de725f 280 *
shimniok 0:a6a169de725f 281 * @return PARAM4 / For NAV and LOITER command waypoints: Yaw orientation in degrees, [0..360] 0 = NORTH
shimniok 0:a6a169de725f 282 */
shimniok 0:a6a169de725f 283 static inline float mavlink_msg_waypoint_get_param4(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 284 {
shimniok 0:a6a169de725f 285 generic_32bit r;
shimniok 0:a6a169de725f 286 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 287 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 288 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 289 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 290 return (float)r.f;
shimniok 0:a6a169de725f 291 }
shimniok 0:a6a169de725f 292
shimniok 0:a6a169de725f 293 /**
shimniok 0:a6a169de725f 294 * @brief Get field x from waypoint message
shimniok 0:a6a169de725f 295 *
shimniok 0:a6a169de725f 296 * @return PARAM5 / local: x position, global: latitude
shimniok 0:a6a169de725f 297 */
shimniok 0:a6a169de725f 298 static inline float mavlink_msg_waypoint_get_x(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 299 {
shimniok 0:a6a169de725f 300 generic_32bit r;
shimniok 0:a6a169de725f 301 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 302 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 303 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 304 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 305 return (float)r.f;
shimniok 0:a6a169de725f 306 }
shimniok 0:a6a169de725f 307
shimniok 0:a6a169de725f 308 /**
shimniok 0:a6a169de725f 309 * @brief Get field y from waypoint message
shimniok 0:a6a169de725f 310 *
shimniok 0:a6a169de725f 311 * @return PARAM6 / y position: global: longitude
shimniok 0:a6a169de725f 312 */
shimniok 0:a6a169de725f 313 static inline float mavlink_msg_waypoint_get_y(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 314 {
shimniok 0:a6a169de725f 315 generic_32bit r;
shimniok 0:a6a169de725f 316 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 317 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 318 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 319 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 320 return (float)r.f;
shimniok 0:a6a169de725f 321 }
shimniok 0:a6a169de725f 322
shimniok 0:a6a169de725f 323 /**
shimniok 0:a6a169de725f 324 * @brief Get field z from waypoint message
shimniok 0:a6a169de725f 325 *
shimniok 0:a6a169de725f 326 * @return PARAM7 / z position: global: altitude
shimniok 0:a6a169de725f 327 */
shimniok 0:a6a169de725f 328 static inline float mavlink_msg_waypoint_get_z(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 329 {
shimniok 0:a6a169de725f 330 generic_32bit r;
shimniok 0:a6a169de725f 331 r.b[3] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:a6a169de725f 332 r.b[2] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:a6a169de725f 333 r.b[1] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:a6a169de725f 334 r.b[0] = (msg->payload+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(uint8_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:a6a169de725f 335 return (float)r.f;
shimniok 0:a6a169de725f 336 }
shimniok 0:a6a169de725f 337
shimniok 0:a6a169de725f 338 /**
shimniok 0:a6a169de725f 339 * @brief Decode a waypoint message into a struct
shimniok 0:a6a169de725f 340 *
shimniok 0:a6a169de725f 341 * @param msg The message to decode
shimniok 0:a6a169de725f 342 * @param waypoint C-struct to decode the message contents into
shimniok 0:a6a169de725f 343 */
shimniok 0:a6a169de725f 344 static inline void mavlink_msg_waypoint_decode(const mavlink_message_t* msg, mavlink_waypoint_t* waypoint)
shimniok 0:a6a169de725f 345 {
shimniok 0:a6a169de725f 346 waypoint->target_system = mavlink_msg_waypoint_get_target_system(msg);
shimniok 0:a6a169de725f 347 waypoint->target_component = mavlink_msg_waypoint_get_target_component(msg);
shimniok 0:a6a169de725f 348 waypoint->seq = mavlink_msg_waypoint_get_seq(msg);
shimniok 0:a6a169de725f 349 waypoint->frame = mavlink_msg_waypoint_get_frame(msg);
shimniok 0:a6a169de725f 350 waypoint->command = mavlink_msg_waypoint_get_command(msg);
shimniok 0:a6a169de725f 351 waypoint->current = mavlink_msg_waypoint_get_current(msg);
shimniok 0:a6a169de725f 352 waypoint->autocontinue = mavlink_msg_waypoint_get_autocontinue(msg);
shimniok 0:a6a169de725f 353 waypoint->param1 = mavlink_msg_waypoint_get_param1(msg);
shimniok 0:a6a169de725f 354 waypoint->param2 = mavlink_msg_waypoint_get_param2(msg);
shimniok 0:a6a169de725f 355 waypoint->param3 = mavlink_msg_waypoint_get_param3(msg);
shimniok 0:a6a169de725f 356 waypoint->param4 = mavlink_msg_waypoint_get_param4(msg);
shimniok 0:a6a169de725f 357 waypoint->x = mavlink_msg_waypoint_get_x(msg);
shimniok 0:a6a169de725f 358 waypoint->y = mavlink_msg_waypoint_get_y(msg);
shimniok 0:a6a169de725f 359 waypoint->z = mavlink_msg_waypoint_get_z(msg);
shimniok 0:a6a169de725f 360 }