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mavlink_msg_attitude_target.h
1#pragma once
2// MESSAGE ATTITUDE_TARGET PACKING
3
4#define MAVLINK_MSG_ID_ATTITUDE_TARGET 83
5
6MAVPACKED(
7typedef struct __mavlink_attitude_target_t {
8 uint32_t time_boot_ms; /*< Timestamp in milliseconds since system boot*/
9 float q[4]; /*< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
10 float body_roll_rate; /*< Body roll rate in radians per second*/
11 float body_pitch_rate; /*< Body pitch rate in radians per second*/
12 float body_yaw_rate; /*< Body yaw rate in radians per second*/
13 float thrust; /*< Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)*/
14 uint8_t type_mask; /*< Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude*/
15}) mavlink_attitude_target_t;
16
17#define MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN 37
18#define MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN 37
19#define MAVLINK_MSG_ID_83_LEN 37
20#define MAVLINK_MSG_ID_83_MIN_LEN 37
21
22#define MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC 22
23#define MAVLINK_MSG_ID_83_CRC 22
24
25#define MAVLINK_MSG_ATTITUDE_TARGET_FIELD_Q_LEN 4
26
27#if MAVLINK_COMMAND_24BIT
28#define MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET { \
29 83, \
30 "ATTITUDE_TARGET", \
31 7, \
32 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_target_t, time_boot_ms) }, \
33 { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_attitude_target_t, type_mask) }, \
34 { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_target_t, q) }, \
35 { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_target_t, body_roll_rate) }, \
36 { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_target_t, body_pitch_rate) }, \
37 { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_target_t, body_yaw_rate) }, \
38 { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_target_t, thrust) }, \
39 } \
40}
41#else
42#define MAVLINK_MESSAGE_INFO_ATTITUDE_TARGET { \
43 "ATTITUDE_TARGET", \
44 7, \
45 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_target_t, time_boot_ms) }, \
46 { "type_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_attitude_target_t, type_mask) }, \
47 { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_target_t, q) }, \
48 { "body_roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_target_t, body_roll_rate) }, \
49 { "body_pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_target_t, body_pitch_rate) }, \
50 { "body_yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_target_t, body_yaw_rate) }, \
51 { "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_target_t, thrust) }, \
52 } \
53}
54#endif
55
71static inline uint16_t mavlink_msg_attitude_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
72 uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
73{
74#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
75 char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
76 _mav_put_uint32_t(buf, 0, time_boot_ms);
77 _mav_put_float(buf, 20, body_roll_rate);
78 _mav_put_float(buf, 24, body_pitch_rate);
79 _mav_put_float(buf, 28, body_yaw_rate);
80 _mav_put_float(buf, 32, thrust);
81 _mav_put_uint8_t(buf, 36, type_mask);
82 _mav_put_float_array(buf, 4, q, 4);
83 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
84#else
85 mavlink_attitude_target_t packet;
86 packet.time_boot_ms = time_boot_ms;
87 packet.body_roll_rate = body_roll_rate;
88 packet.body_pitch_rate = body_pitch_rate;
89 packet.body_yaw_rate = body_yaw_rate;
90 packet.thrust = thrust;
91 packet.type_mask = type_mask;
92 mav_array_memcpy(packet.q, q, sizeof(float)*4);
93 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
94#endif
95
96 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET;
97 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
98}
99
115static inline uint16_t mavlink_msg_attitude_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
116 mavlink_message_t* msg,
117 uint32_t time_boot_ms,uint8_t type_mask,const float *q,float body_roll_rate,float body_pitch_rate,float body_yaw_rate,float thrust)
118{
119#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
120 char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
121 _mav_put_uint32_t(buf, 0, time_boot_ms);
122 _mav_put_float(buf, 20, body_roll_rate);
123 _mav_put_float(buf, 24, body_pitch_rate);
124 _mav_put_float(buf, 28, body_yaw_rate);
125 _mav_put_float(buf, 32, thrust);
126 _mav_put_uint8_t(buf, 36, type_mask);
127 _mav_put_float_array(buf, 4, q, 4);
128 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
129#else
130 mavlink_attitude_target_t packet;
131 packet.time_boot_ms = time_boot_ms;
132 packet.body_roll_rate = body_roll_rate;
133 packet.body_pitch_rate = body_pitch_rate;
134 packet.body_yaw_rate = body_yaw_rate;
135 packet.thrust = thrust;
136 packet.type_mask = type_mask;
137 mav_array_memcpy(packet.q, q, sizeof(float)*4);
138 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
139#endif
140
141 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_TARGET;
142 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
143}
144
153static inline uint16_t mavlink_msg_attitude_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target)
154{
155 return mavlink_msg_attitude_target_pack(system_id, component_id, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
156}
157
167static inline uint16_t mavlink_msg_attitude_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_target_t* attitude_target)
168{
169 return mavlink_msg_attitude_target_pack_chan(system_id, component_id, chan, msg, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
170}
171
184#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
185
186static inline void mavlink_msg_attitude_target_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
187{
188#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
189 char buf[MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN];
190 _mav_put_uint32_t(buf, 0, time_boot_ms);
191 _mav_put_float(buf, 20, body_roll_rate);
192 _mav_put_float(buf, 24, body_pitch_rate);
193 _mav_put_float(buf, 28, body_yaw_rate);
194 _mav_put_float(buf, 32, thrust);
195 _mav_put_uint8_t(buf, 36, type_mask);
196 _mav_put_float_array(buf, 4, q, 4);
197 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
198#else
199 mavlink_attitude_target_t packet;
200 packet.time_boot_ms = time_boot_ms;
201 packet.body_roll_rate = body_roll_rate;
202 packet.body_pitch_rate = body_pitch_rate;
203 packet.body_yaw_rate = body_yaw_rate;
204 packet.thrust = thrust;
205 packet.type_mask = type_mask;
206 mav_array_memcpy(packet.q, q, sizeof(float)*4);
207 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
208#endif
209}
210
216static inline void mavlink_msg_attitude_target_send_struct(mavlink_channel_t chan, const mavlink_attitude_target_t* attitude_target)
217{
218#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
219 mavlink_msg_attitude_target_send(chan, attitude_target->time_boot_ms, attitude_target->type_mask, attitude_target->q, attitude_target->body_roll_rate, attitude_target->body_pitch_rate, attitude_target->body_yaw_rate, attitude_target->thrust);
220#else
221 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)attitude_target, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
222#endif
223}
224
225#if MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
226/*
227 This varient of _send() can be used to save stack space by re-using
228 memory from the receive buffer. The caller provides a
229 mavlink_message_t which is the size of a full mavlink message. This
230 is usually the receive buffer for the channel, and allows a reply to an
231 incoming message with minimum stack space usage.
232 */
233static inline void mavlink_msg_attitude_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t type_mask, const float *q, float body_roll_rate, float body_pitch_rate, float body_yaw_rate, float thrust)
234{
235#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
236 char *buf = (char *)msgbuf;
237 _mav_put_uint32_t(buf, 0, time_boot_ms);
238 _mav_put_float(buf, 20, body_roll_rate);
239 _mav_put_float(buf, 24, body_pitch_rate);
240 _mav_put_float(buf, 28, body_yaw_rate);
241 _mav_put_float(buf, 32, thrust);
242 _mav_put_uint8_t(buf, 36, type_mask);
243 _mav_put_float_array(buf, 4, q, 4);
244 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, buf, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
245#else
246 mavlink_attitude_target_t *packet = (mavlink_attitude_target_t *)msgbuf;
247 packet->time_boot_ms = time_boot_ms;
248 packet->body_roll_rate = body_roll_rate;
249 packet->body_pitch_rate = body_pitch_rate;
250 packet->body_yaw_rate = body_yaw_rate;
251 packet->thrust = thrust;
252 packet->type_mask = type_mask;
253 mav_array_memcpy(packet->q, q, sizeof(float)*4);
254 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_TARGET, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_TARGET_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN, MAVLINK_MSG_ID_ATTITUDE_TARGET_CRC);
255#endif
256}
257#endif
258
259#endif
260
261// MESSAGE ATTITUDE_TARGET UNPACKING
262
263
269static inline uint32_t mavlink_msg_attitude_target_get_time_boot_ms(const mavlink_message_t* msg)
270{
271 return _MAV_RETURN_uint32_t(msg, 0);
272}
273
279static inline uint8_t mavlink_msg_attitude_target_get_type_mask(const mavlink_message_t* msg)
280{
281 return _MAV_RETURN_uint8_t(msg, 36);
282}
283
289static inline uint16_t mavlink_msg_attitude_target_get_q(const mavlink_message_t* msg, float *q)
290{
291 return _MAV_RETURN_float_array(msg, q, 4, 4);
292}
293
299static inline float mavlink_msg_attitude_target_get_body_roll_rate(const mavlink_message_t* msg)
300{
301 return _MAV_RETURN_float(msg, 20);
302}
303
309static inline float mavlink_msg_attitude_target_get_body_pitch_rate(const mavlink_message_t* msg)
310{
311 return _MAV_RETURN_float(msg, 24);
312}
313
319static inline float mavlink_msg_attitude_target_get_body_yaw_rate(const mavlink_message_t* msg)
320{
321 return _MAV_RETURN_float(msg, 28);
322}
323
329static inline float mavlink_msg_attitude_target_get_thrust(const mavlink_message_t* msg)
330{
331 return _MAV_RETURN_float(msg, 32);
332}
333
340static inline void mavlink_msg_attitude_target_decode(const mavlink_message_t* msg, mavlink_attitude_target_t* attitude_target)
341{
342#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
343 attitude_target->time_boot_ms = mavlink_msg_attitude_target_get_time_boot_ms(msg);
344 mavlink_msg_attitude_target_get_q(msg, attitude_target->q);
345 attitude_target->body_roll_rate = mavlink_msg_attitude_target_get_body_roll_rate(msg);
346 attitude_target->body_pitch_rate = mavlink_msg_attitude_target_get_body_pitch_rate(msg);
347 attitude_target->body_yaw_rate = mavlink_msg_attitude_target_get_body_yaw_rate(msg);
348 attitude_target->thrust = mavlink_msg_attitude_target_get_thrust(msg);
349 attitude_target->type_mask = mavlink_msg_attitude_target_get_type_mask(msg);
350#else
351 uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN;
352 memset(attitude_target, 0, MAVLINK_MSG_ID_ATTITUDE_TARGET_LEN);
353 memcpy(attitude_target, _MAV_PAYLOAD(msg), len);
354#endif
355}
制作者 doxygen 1.11.0