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mavlink_msg_adap_tuning.h
1#pragma once
2// MESSAGE ADAP_TUNING PACKING
3
4#define MAVLINK_MSG_ID_ADAP_TUNING 11010
5
6MAVPACKED(
7typedef struct __mavlink_adap_tuning_t {
8 float desired; /*< desired rate (degrees/s)*/
9 float achieved; /*< achieved rate (degrees/s)*/
10 float error; /*< error between model and vehicle*/
11 float theta; /*< theta estimated state predictor*/
12 float omega; /*< omega estimated state predictor*/
13 float sigma; /*< sigma estimated state predictor*/
14 float theta_dot; /*< theta derivative*/
15 float omega_dot; /*< omega derivative*/
16 float sigma_dot; /*< sigma derivative*/
17 float f; /*< projection operator value*/
18 float f_dot; /*< projection operator derivative*/
19 float u; /*< u adaptive controlled output command*/
20 uint8_t axis; /*< axis*/
21}) mavlink_adap_tuning_t;
22
23#define MAVLINK_MSG_ID_ADAP_TUNING_LEN 49
24#define MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN 49
25#define MAVLINK_MSG_ID_11010_LEN 49
26#define MAVLINK_MSG_ID_11010_MIN_LEN 49
27
28#define MAVLINK_MSG_ID_ADAP_TUNING_CRC 46
29#define MAVLINK_MSG_ID_11010_CRC 46
30
31
32
33#if MAVLINK_COMMAND_24BIT
34#define MAVLINK_MESSAGE_INFO_ADAP_TUNING { \
35 11010, \
36 "ADAP_TUNING", \
37 13, \
38 { { "axis", NULL, MAVLINK_TYPE_UINT8_T, 0, 48, offsetof(mavlink_adap_tuning_t, axis) }, \
39 { "desired", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_adap_tuning_t, desired) }, \
40 { "achieved", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_adap_tuning_t, achieved) }, \
41 { "error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_adap_tuning_t, error) }, \
42 { "theta", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_adap_tuning_t, theta) }, \
43 { "omega", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_adap_tuning_t, omega) }, \
44 { "sigma", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_adap_tuning_t, sigma) }, \
45 { "theta_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_adap_tuning_t, theta_dot) }, \
46 { "omega_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_adap_tuning_t, omega_dot) }, \
47 { "sigma_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_adap_tuning_t, sigma_dot) }, \
48 { "f", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_adap_tuning_t, f) }, \
49 { "f_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_adap_tuning_t, f_dot) }, \
50 { "u", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_adap_tuning_t, u) }, \
51 } \
52}
53#else
54#define MAVLINK_MESSAGE_INFO_ADAP_TUNING { \
55 "ADAP_TUNING", \
56 13, \
57 { { "axis", NULL, MAVLINK_TYPE_UINT8_T, 0, 48, offsetof(mavlink_adap_tuning_t, axis) }, \
58 { "desired", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_adap_tuning_t, desired) }, \
59 { "achieved", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_adap_tuning_t, achieved) }, \
60 { "error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_adap_tuning_t, error) }, \
61 { "theta", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_adap_tuning_t, theta) }, \
62 { "omega", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_adap_tuning_t, omega) }, \
63 { "sigma", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_adap_tuning_t, sigma) }, \
64 { "theta_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_adap_tuning_t, theta_dot) }, \
65 { "omega_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_adap_tuning_t, omega_dot) }, \
66 { "sigma_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_adap_tuning_t, sigma_dot) }, \
67 { "f", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_adap_tuning_t, f) }, \
68 { "f_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_adap_tuning_t, f_dot) }, \
69 { "u", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_adap_tuning_t, u) }, \
70 } \
71}
72#endif
73
74/**
75 * @brief Pack a adap_tuning message
76 * @param system_id ID of this system
77 * @param component_id ID of this component (e.g. 200 for IMU)
78 * @param msg The MAVLink message to compress the data into
79 *
80 * @param axis axis
81 * @param desired desired rate (degrees/s)
82 * @param achieved achieved rate (degrees/s)
83 * @param error error between model and vehicle
84 * @param theta theta estimated state predictor
85 * @param omega omega estimated state predictor
86 * @param sigma sigma estimated state predictor
87 * @param theta_dot theta derivative
88 * @param omega_dot omega derivative
89 * @param sigma_dot sigma derivative
90 * @param f projection operator value
91 * @param f_dot projection operator derivative
92 * @param u u adaptive controlled output command
93 * @return length of the message in bytes (excluding serial stream start sign)
94 */
95static inline uint16_t mavlink_msg_adap_tuning_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
96 uint8_t axis, float desired, float achieved, float error, float theta, float omega, float sigma, float theta_dot, float omega_dot, float sigma_dot, float f, float f_dot, float u)
97{
98#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
99 char buf[MAVLINK_MSG_ID_ADAP_TUNING_LEN];
100 _mav_put_float(buf, 0, desired);
101 _mav_put_float(buf, 4, achieved);
102 _mav_put_float(buf, 8, error);
103 _mav_put_float(buf, 12, theta);
104 _mav_put_float(buf, 16, omega);
105 _mav_put_float(buf, 20, sigma);
106 _mav_put_float(buf, 24, theta_dot);
107 _mav_put_float(buf, 28, omega_dot);
108 _mav_put_float(buf, 32, sigma_dot);
109 _mav_put_float(buf, 36, f);
110 _mav_put_float(buf, 40, f_dot);
111 _mav_put_float(buf, 44, u);
112 _mav_put_uint8_t(buf, 48, axis);
113
114 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ADAP_TUNING_LEN);
115#else
116 mavlink_adap_tuning_t packet;
117 packet.desired = desired;
118 packet.achieved = achieved;
119 packet.error = error;
120 packet.theta = theta;
121 packet.omega = omega;
122 packet.sigma = sigma;
123 packet.theta_dot = theta_dot;
124 packet.omega_dot = omega_dot;
125 packet.sigma_dot = sigma_dot;
126 packet.f = f;
127 packet.f_dot = f_dot;
128 packet.u = u;
129 packet.axis = axis;
130
131 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ADAP_TUNING_LEN);
132#endif
133
134 msg->msgid = MAVLINK_MSG_ID_ADAP_TUNING;
135 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC);
136}
137
138/**
139 * @brief Pack a adap_tuning message on a channel
140 * @param system_id ID of this system
141 * @param component_id ID of this component (e.g. 200 for IMU)
142 * @param chan The MAVLink channel this message will be sent over
143 * @param msg The MAVLink message to compress the data into
144 * @param axis axis
145 * @param desired desired rate (degrees/s)
146 * @param achieved achieved rate (degrees/s)
147 * @param error error between model and vehicle
148 * @param theta theta estimated state predictor
149 * @param omega omega estimated state predictor
150 * @param sigma sigma estimated state predictor
151 * @param theta_dot theta derivative
152 * @param omega_dot omega derivative
153 * @param sigma_dot sigma derivative
154 * @param f projection operator value
155 * @param f_dot projection operator derivative
156 * @param u u adaptive controlled output command
157 * @return length of the message in bytes (excluding serial stream start sign)
158 */
159static inline uint16_t mavlink_msg_adap_tuning_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
160 mavlink_message_t* msg,
161 uint8_t axis,float desired,float achieved,float error,float theta,float omega,float sigma,float theta_dot,float omega_dot,float sigma_dot,float f,float f_dot,float u)
162{
163#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
164 char buf[MAVLINK_MSG_ID_ADAP_TUNING_LEN];
165 _mav_put_float(buf, 0, desired);
166 _mav_put_float(buf, 4, achieved);
167 _mav_put_float(buf, 8, error);
168 _mav_put_float(buf, 12, theta);
169 _mav_put_float(buf, 16, omega);
170 _mav_put_float(buf, 20, sigma);
171 _mav_put_float(buf, 24, theta_dot);
172 _mav_put_float(buf, 28, omega_dot);
173 _mav_put_float(buf, 32, sigma_dot);
174 _mav_put_float(buf, 36, f);
175 _mav_put_float(buf, 40, f_dot);
176 _mav_put_float(buf, 44, u);
177 _mav_put_uint8_t(buf, 48, axis);
178
179 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ADAP_TUNING_LEN);
180#else
181 mavlink_adap_tuning_t packet;
182 packet.desired = desired;
183 packet.achieved = achieved;
184 packet.error = error;
185 packet.theta = theta;
186 packet.omega = omega;
187 packet.sigma = sigma;
188 packet.theta_dot = theta_dot;
189 packet.omega_dot = omega_dot;
190 packet.sigma_dot = sigma_dot;
191 packet.f = f;
192 packet.f_dot = f_dot;
193 packet.u = u;
194 packet.axis = axis;
195
196 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ADAP_TUNING_LEN);
197#endif
198
199 msg->msgid = MAVLINK_MSG_ID_ADAP_TUNING;
200 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC);
201}
202
203/**
204 * @brief Encode a adap_tuning struct
205 *
206 * @param system_id ID of this system
207 * @param component_id ID of this component (e.g. 200 for IMU)
208 * @param msg The MAVLink message to compress the data into
209 * @param adap_tuning C-struct to read the message contents from
210 */
211static inline uint16_t mavlink_msg_adap_tuning_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_adap_tuning_t* adap_tuning)
212{
213 return mavlink_msg_adap_tuning_pack(system_id, component_id, msg, adap_tuning->axis, adap_tuning->desired, adap_tuning->achieved, adap_tuning->error, adap_tuning->theta, adap_tuning->omega, adap_tuning->sigma, adap_tuning->theta_dot, adap_tuning->omega_dot, adap_tuning->sigma_dot, adap_tuning->f, adap_tuning->f_dot, adap_tuning->u);
214}
215
216/**
217 * @brief Encode a adap_tuning struct on a channel
218 *
219 * @param system_id ID of this system
220 * @param component_id ID of this component (e.g. 200 for IMU)
221 * @param chan The MAVLink channel this message will be sent over
222 * @param msg The MAVLink message to compress the data into
223 * @param adap_tuning C-struct to read the message contents from
224 */
225static inline uint16_t mavlink_msg_adap_tuning_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_adap_tuning_t* adap_tuning)
226{
227 return mavlink_msg_adap_tuning_pack_chan(system_id, component_id, chan, msg, adap_tuning->axis, adap_tuning->desired, adap_tuning->achieved, adap_tuning->error, adap_tuning->theta, adap_tuning->omega, adap_tuning->sigma, adap_tuning->theta_dot, adap_tuning->omega_dot, adap_tuning->sigma_dot, adap_tuning->f, adap_tuning->f_dot, adap_tuning->u);
228}
229
230/**
231 * @brief Send a adap_tuning message
232 * @param chan MAVLink channel to send the message
233 *
234 * @param axis axis
235 * @param desired desired rate (degrees/s)
236 * @param achieved achieved rate (degrees/s)
237 * @param error error between model and vehicle
238 * @param theta theta estimated state predictor
239 * @param omega omega estimated state predictor
240 * @param sigma sigma estimated state predictor
241 * @param theta_dot theta derivative
242 * @param omega_dot omega derivative
243 * @param sigma_dot sigma derivative
244 * @param f projection operator value
245 * @param f_dot projection operator derivative
246 * @param u u adaptive controlled output command
247 */
248#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
249
250static inline void mavlink_msg_adap_tuning_send(mavlink_channel_t chan, uint8_t axis, float desired, float achieved, float error, float theta, float omega, float sigma, float theta_dot, float omega_dot, float sigma_dot, float f, float f_dot, float u)
251{
252#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
253 char buf[MAVLINK_MSG_ID_ADAP_TUNING_LEN];
254 _mav_put_float(buf, 0, desired);
255 _mav_put_float(buf, 4, achieved);
256 _mav_put_float(buf, 8, error);
257 _mav_put_float(buf, 12, theta);
258 _mav_put_float(buf, 16, omega);
259 _mav_put_float(buf, 20, sigma);
260 _mav_put_float(buf, 24, theta_dot);
261 _mav_put_float(buf, 28, omega_dot);
262 _mav_put_float(buf, 32, sigma_dot);
263 _mav_put_float(buf, 36, f);
264 _mav_put_float(buf, 40, f_dot);
265 _mav_put_float(buf, 44, u);
266 _mav_put_uint8_t(buf, 48, axis);
267
268 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ADAP_TUNING, buf, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC);
269#else
270 mavlink_adap_tuning_t packet;
271 packet.desired = desired;
272 packet.achieved = achieved;
273 packet.error = error;
274 packet.theta = theta;
275 packet.omega = omega;
276 packet.sigma = sigma;
277 packet.theta_dot = theta_dot;
278 packet.omega_dot = omega_dot;
279 packet.sigma_dot = sigma_dot;
280 packet.f = f;
281 packet.f_dot = f_dot;
282 packet.u = u;
283 packet.axis = axis;
284
285 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ADAP_TUNING, (const char *)&packet, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC);
286#endif
287}
288
289/**
290 * @brief Send a adap_tuning message
291 * @param chan MAVLink channel to send the message
292 * @param struct The MAVLink struct to serialize
293 */
294static inline void mavlink_msg_adap_tuning_send_struct(mavlink_channel_t chan, const mavlink_adap_tuning_t* adap_tuning)
295{
296#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
297 mavlink_msg_adap_tuning_send(chan, adap_tuning->axis, adap_tuning->desired, adap_tuning->achieved, adap_tuning->error, adap_tuning->theta, adap_tuning->omega, adap_tuning->sigma, adap_tuning->theta_dot, adap_tuning->omega_dot, adap_tuning->sigma_dot, adap_tuning->f, adap_tuning->f_dot, adap_tuning->u);
298#else
299 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ADAP_TUNING, (const char *)adap_tuning, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC);
300#endif
301}
302
303#if MAVLINK_MSG_ID_ADAP_TUNING_LEN <= MAVLINK_MAX_PAYLOAD_LEN
304/*
305 This varient of _send() can be used to save stack space by re-using
306 memory from the receive buffer. The caller provides a
307 mavlink_message_t which is the size of a full mavlink message. This
308 is usually the receive buffer for the channel, and allows a reply to an
309 incoming message with minimum stack space usage.
310 */
311static inline void mavlink_msg_adap_tuning_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t axis, float desired, float achieved, float error, float theta, float omega, float sigma, float theta_dot, float omega_dot, float sigma_dot, float f, float f_dot, float u)
312{
313#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
314 char *buf = (char *)msgbuf;
315 _mav_put_float(buf, 0, desired);
316 _mav_put_float(buf, 4, achieved);
317 _mav_put_float(buf, 8, error);
318 _mav_put_float(buf, 12, theta);
319 _mav_put_float(buf, 16, omega);
320 _mav_put_float(buf, 20, sigma);
321 _mav_put_float(buf, 24, theta_dot);
322 _mav_put_float(buf, 28, omega_dot);
323 _mav_put_float(buf, 32, sigma_dot);
324 _mav_put_float(buf, 36, f);
325 _mav_put_float(buf, 40, f_dot);
326 _mav_put_float(buf, 44, u);
327 _mav_put_uint8_t(buf, 48, axis);
328
329 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ADAP_TUNING, buf, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC);
330#else
331 mavlink_adap_tuning_t *packet = (mavlink_adap_tuning_t *)msgbuf;
332 packet->desired = desired;
333 packet->achieved = achieved;
334 packet->error = error;
335 packet->theta = theta;
336 packet->omega = omega;
337 packet->sigma = sigma;
338 packet->theta_dot = theta_dot;
339 packet->omega_dot = omega_dot;
340 packet->sigma_dot = sigma_dot;
341 packet->f = f;
342 packet->f_dot = f_dot;
343 packet->u = u;
344 packet->axis = axis;
345
346 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ADAP_TUNING, (const char *)packet, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC);
347#endif
348}
349#endif
350
351#endif
352
353// MESSAGE ADAP_TUNING UNPACKING
354
355
356/**
357 * @brief Get field axis from adap_tuning message
358 *
359 * @return axis
360 */
361static inline uint8_t mavlink_msg_adap_tuning_get_axis(const mavlink_message_t* msg)
362{
363 return _MAV_RETURN_uint8_t(msg, 48);
364}
365
366/**
367 * @brief Get field desired from adap_tuning message
368 *
369 * @return desired rate (degrees/s)
370 */
371static inline float mavlink_msg_adap_tuning_get_desired(const mavlink_message_t* msg)
372{
373 return _MAV_RETURN_float(msg, 0);
374}
375
376/**
377 * @brief Get field achieved from adap_tuning message
378 *
379 * @return achieved rate (degrees/s)
380 */
381static inline float mavlink_msg_adap_tuning_get_achieved(const mavlink_message_t* msg)
382{
383 return _MAV_RETURN_float(msg, 4);
384}
385
386/**
387 * @brief Get field error from adap_tuning message
388 *
389 * @return error between model and vehicle
390 */
391static inline float mavlink_msg_adap_tuning_get_error(const mavlink_message_t* msg)
392{
393 return _MAV_RETURN_float(msg, 8);
394}
395
396/**
397 * @brief Get field theta from adap_tuning message
398 *
399 * @return theta estimated state predictor
400 */
401static inline float mavlink_msg_adap_tuning_get_theta(const mavlink_message_t* msg)
402{
403 return _MAV_RETURN_float(msg, 12);
404}
405
406/**
407 * @brief Get field omega from adap_tuning message
408 *
409 * @return omega estimated state predictor
410 */
411static inline float mavlink_msg_adap_tuning_get_omega(const mavlink_message_t* msg)
412{
413 return _MAV_RETURN_float(msg, 16);
414}
415
416/**
417 * @brief Get field sigma from adap_tuning message
418 *
419 * @return sigma estimated state predictor
420 */
421static inline float mavlink_msg_adap_tuning_get_sigma(const mavlink_message_t* msg)
422{
423 return _MAV_RETURN_float(msg, 20);
424}
425
426/**
427 * @brief Get field theta_dot from adap_tuning message
428 *
429 * @return theta derivative
430 */
431static inline float mavlink_msg_adap_tuning_get_theta_dot(const mavlink_message_t* msg)
432{
433 return _MAV_RETURN_float(msg, 24);
434}
435
436/**
437 * @brief Get field omega_dot from adap_tuning message
438 *
439 * @return omega derivative
440 */
441static inline float mavlink_msg_adap_tuning_get_omega_dot(const mavlink_message_t* msg)
442{
443 return _MAV_RETURN_float(msg, 28);
444}
445
446/**
447 * @brief Get field sigma_dot from adap_tuning message
448 *
449 * @return sigma derivative
450 */
451static inline float mavlink_msg_adap_tuning_get_sigma_dot(const mavlink_message_t* msg)
452{
453 return _MAV_RETURN_float(msg, 32);
454}
455
456/**
457 * @brief Get field f from adap_tuning message
458 *
459 * @return projection operator value
460 */
461static inline float mavlink_msg_adap_tuning_get_f(const mavlink_message_t* msg)
462{
463 return _MAV_RETURN_float(msg, 36);
464}
465
466/**
467 * @brief Get field f_dot from adap_tuning message
468 *
469 * @return projection operator derivative
470 */
471static inline float mavlink_msg_adap_tuning_get_f_dot(const mavlink_message_t* msg)
472{
473 return _MAV_RETURN_float(msg, 40);
474}
475
476/**
477 * @brief Get field u from adap_tuning message
478 *
479 * @return u adaptive controlled output command
480 */
481static inline float mavlink_msg_adap_tuning_get_u(const mavlink_message_t* msg)
482{
483 return _MAV_RETURN_float(msg, 44);
484}
485
486/**
487 * @brief Decode a adap_tuning message into a struct
488 *
489 * @param msg The message to decode
490 * @param adap_tuning C-struct to decode the message contents into
491 */
492static inline void mavlink_msg_adap_tuning_decode(const mavlink_message_t* msg, mavlink_adap_tuning_t* adap_tuning)
493{
494#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
495 adap_tuning->desired = mavlink_msg_adap_tuning_get_desired(msg);
496 adap_tuning->achieved = mavlink_msg_adap_tuning_get_achieved(msg);
497 adap_tuning->error = mavlink_msg_adap_tuning_get_error(msg);
498 adap_tuning->theta = mavlink_msg_adap_tuning_get_theta(msg);
499 adap_tuning->omega = mavlink_msg_adap_tuning_get_omega(msg);
500 adap_tuning->sigma = mavlink_msg_adap_tuning_get_sigma(msg);
501 adap_tuning->theta_dot = mavlink_msg_adap_tuning_get_theta_dot(msg);
502 adap_tuning->omega_dot = mavlink_msg_adap_tuning_get_omega_dot(msg);
503 adap_tuning->sigma_dot = mavlink_msg_adap_tuning_get_sigma_dot(msg);
504 adap_tuning->f = mavlink_msg_adap_tuning_get_f(msg);
505 adap_tuning->f_dot = mavlink_msg_adap_tuning_get_f_dot(msg);
506 adap_tuning->u = mavlink_msg_adap_tuning_get_u(msg);
507 adap_tuning->axis = mavlink_msg_adap_tuning_get_axis(msg);
508#else
509 uint8_t len = msg->len < MAVLINK_MSG_ID_ADAP_TUNING_LEN? msg->len : MAVLINK_MSG_ID_ADAP_TUNING_LEN;
510 memset(adap_tuning, 0, MAVLINK_MSG_ID_ADAP_TUNING_LEN);
511 memcpy(adap_tuning, _MAV_PAYLOAD(msg), len);
512#endif
513}
制作者 doxygen 1.11.0