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mavlink_msg_command_long.h
1#pragma once
2// MESSAGE COMMAND_LONG PACKING
3
4#define MAVLINK_MSG_ID_COMMAND_LONG 76
5
6MAVPACKED(
7typedef struct __mavlink_command_long_t {
8 float param1; /*< Parameter 1, as defined by MAV_CMD enum.*/
9 float param2; /*< Parameter 2, as defined by MAV_CMD enum.*/
10 float param3; /*< Parameter 3, as defined by MAV_CMD enum.*/
11 float param4; /*< Parameter 4, as defined by MAV_CMD enum.*/
12 float param5; /*< Parameter 5, as defined by MAV_CMD enum.*/
13 float param6; /*< Parameter 6, as defined by MAV_CMD enum.*/
14 float param7; /*< Parameter 7, as defined by MAV_CMD enum.*/
15 uint16_t command; /*< Command ID, as defined by MAV_CMD enum.*/
16 uint8_t target_system; /*< System which should execute the command*/
17 uint8_t target_component; /*< Component which should execute the command, 0 for all components*/
18 uint8_t confirmation; /*< 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)*/
19}) mavlink_command_long_t;
20
21#define MAVLINK_MSG_ID_COMMAND_LONG_LEN 33
22#define MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN 33
23#define MAVLINK_MSG_ID_76_LEN 33
24#define MAVLINK_MSG_ID_76_MIN_LEN 33
25
26#define MAVLINK_MSG_ID_COMMAND_LONG_CRC 152
27#define MAVLINK_MSG_ID_76_CRC 152
28
29
30
31#if MAVLINK_COMMAND_24BIT
32#define MAVLINK_MESSAGE_INFO_COMMAND_LONG { \
33 76, \
34 "COMMAND_LONG", \
35 11, \
36 { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_long_t, target_system) }, \
37 { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_long_t, target_component) }, \
38 { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_long_t, command) }, \
39 { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_long_t, confirmation) }, \
40 { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_long_t, param1) }, \
41 { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_long_t, param2) }, \
42 { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_long_t, param3) }, \
43 { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_long_t, param4) }, \
44 { "param5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_long_t, param5) }, \
45 { "param6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_command_long_t, param6) }, \
46 { "param7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_long_t, param7) }, \
47 } \
48}
49#else
50#define MAVLINK_MESSAGE_INFO_COMMAND_LONG { \
51 "COMMAND_LONG", \
52 11, \
53 { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_long_t, target_system) }, \
54 { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_long_t, target_component) }, \
55 { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_long_t, command) }, \
56 { "confirmation", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_long_t, confirmation) }, \
57 { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_long_t, param1) }, \
58 { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_long_t, param2) }, \
59 { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_long_t, param3) }, \
60 { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_long_t, param4) }, \
61 { "param5", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_command_long_t, param5) }, \
62 { "param6", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_command_long_t, param6) }, \
63 { "param7", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_long_t, param7) }, \
64 } \
65}
66#endif
67
87static inline uint16_t mavlink_msg_command_long_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
88 uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
89{
90#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
91 char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
92 _mav_put_float(buf, 0, param1);
93 _mav_put_float(buf, 4, param2);
94 _mav_put_float(buf, 8, param3);
95 _mav_put_float(buf, 12, param4);
96 _mav_put_float(buf, 16, param5);
97 _mav_put_float(buf, 20, param6);
98 _mav_put_float(buf, 24, param7);
99 _mav_put_uint16_t(buf, 28, command);
100 _mav_put_uint8_t(buf, 30, target_system);
101 _mav_put_uint8_t(buf, 31, target_component);
102 _mav_put_uint8_t(buf, 32, confirmation);
103
104 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
105#else
106 mavlink_command_long_t packet;
107 packet.param1 = param1;
108 packet.param2 = param2;
109 packet.param3 = param3;
110 packet.param4 = param4;
111 packet.param5 = param5;
112 packet.param6 = param6;
113 packet.param7 = param7;
114 packet.command = command;
115 packet.target_system = target_system;
116 packet.target_component = target_component;
117 packet.confirmation = confirmation;
118
119 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
120#endif
121
122 msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
123 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
124}
125
145static inline uint16_t mavlink_msg_command_long_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
146 mavlink_message_t* msg,
147 uint8_t target_system,uint8_t target_component,uint16_t command,uint8_t confirmation,float param1,float param2,float param3,float param4,float param5,float param6,float param7)
148{
149#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
150 char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
151 _mav_put_float(buf, 0, param1);
152 _mav_put_float(buf, 4, param2);
153 _mav_put_float(buf, 8, param3);
154 _mav_put_float(buf, 12, param4);
155 _mav_put_float(buf, 16, param5);
156 _mav_put_float(buf, 20, param6);
157 _mav_put_float(buf, 24, param7);
158 _mav_put_uint16_t(buf, 28, command);
159 _mav_put_uint8_t(buf, 30, target_system);
160 _mav_put_uint8_t(buf, 31, target_component);
161 _mav_put_uint8_t(buf, 32, confirmation);
162
163 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
164#else
165 mavlink_command_long_t packet;
166 packet.param1 = param1;
167 packet.param2 = param2;
168 packet.param3 = param3;
169 packet.param4 = param4;
170 packet.param5 = param5;
171 packet.param6 = param6;
172 packet.param7 = param7;
173 packet.command = command;
174 packet.target_system = target_system;
175 packet.target_component = target_component;
176 packet.confirmation = confirmation;
177
178 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
179#endif
180
181 msg->msgid = MAVLINK_MSG_ID_COMMAND_LONG;
182 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
183}
184
193static inline uint16_t mavlink_msg_command_long_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_long_t* command_long)
194{
195 return mavlink_msg_command_long_pack(system_id, component_id, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
196}
197
207static inline uint16_t mavlink_msg_command_long_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_long_t* command_long)
208{
209 return mavlink_msg_command_long_pack_chan(system_id, component_id, chan, msg, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
210}
211
228#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
229
230static inline void mavlink_msg_command_long_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
231{
232#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
233 char buf[MAVLINK_MSG_ID_COMMAND_LONG_LEN];
234 _mav_put_float(buf, 0, param1);
235 _mav_put_float(buf, 4, param2);
236 _mav_put_float(buf, 8, param3);
237 _mav_put_float(buf, 12, param4);
238 _mav_put_float(buf, 16, param5);
239 _mav_put_float(buf, 20, param6);
240 _mav_put_float(buf, 24, param7);
241 _mav_put_uint16_t(buf, 28, command);
242 _mav_put_uint8_t(buf, 30, target_system);
243 _mav_put_uint8_t(buf, 31, target_component);
244 _mav_put_uint8_t(buf, 32, confirmation);
245
246 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
247#else
248 mavlink_command_long_t packet;
249 packet.param1 = param1;
250 packet.param2 = param2;
251 packet.param3 = param3;
252 packet.param4 = param4;
253 packet.param5 = param5;
254 packet.param6 = param6;
255 packet.param7 = param7;
256 packet.command = command;
257 packet.target_system = target_system;
258 packet.target_component = target_component;
259 packet.confirmation = confirmation;
260
261 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
262#endif
263}
264
270static inline void mavlink_msg_command_long_send_struct(mavlink_channel_t chan, const mavlink_command_long_t* command_long)
271{
272#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
273 mavlink_msg_command_long_send(chan, command_long->target_system, command_long->target_component, command_long->command, command_long->confirmation, command_long->param1, command_long->param2, command_long->param3, command_long->param4, command_long->param5, command_long->param6, command_long->param7);
274#else
275 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)command_long, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
276#endif
277}
278
279#if MAVLINK_MSG_ID_COMMAND_LONG_LEN <= MAVLINK_MAX_PAYLOAD_LEN
280/*
281 This varient of _send() can be used to save stack space by re-using
282 memory from the receive buffer. The caller provides a
283 mavlink_message_t which is the size of a full mavlink message. This
284 is usually the receive buffer for the channel, and allows a reply to an
285 incoming message with minimum stack space usage.
286 */
287static inline void mavlink_msg_command_long_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint16_t command, uint8_t confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
288{
289#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
290 char *buf = (char *)msgbuf;
291 _mav_put_float(buf, 0, param1);
292 _mav_put_float(buf, 4, param2);
293 _mav_put_float(buf, 8, param3);
294 _mav_put_float(buf, 12, param4);
295 _mav_put_float(buf, 16, param5);
296 _mav_put_float(buf, 20, param6);
297 _mav_put_float(buf, 24, param7);
298 _mav_put_uint16_t(buf, 28, command);
299 _mav_put_uint8_t(buf, 30, target_system);
300 _mav_put_uint8_t(buf, 31, target_component);
301 _mav_put_uint8_t(buf, 32, confirmation);
302
303 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, buf, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
304#else
305 mavlink_command_long_t *packet = (mavlink_command_long_t *)msgbuf;
306 packet->param1 = param1;
307 packet->param2 = param2;
308 packet->param3 = param3;
309 packet->param4 = param4;
310 packet->param5 = param5;
311 packet->param6 = param6;
312 packet->param7 = param7;
313 packet->command = command;
314 packet->target_system = target_system;
315 packet->target_component = target_component;
316 packet->confirmation = confirmation;
317
318 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_LONG, (const char *)packet, MAVLINK_MSG_ID_COMMAND_LONG_MIN_LEN, MAVLINK_MSG_ID_COMMAND_LONG_LEN, MAVLINK_MSG_ID_COMMAND_LONG_CRC);
319#endif
320}
321#endif
322
323#endif
324
325// MESSAGE COMMAND_LONG UNPACKING
326
327
333static inline uint8_t mavlink_msg_command_long_get_target_system(const mavlink_message_t* msg)
334{
335 return _MAV_RETURN_uint8_t(msg, 30);
336}
337
343static inline uint8_t mavlink_msg_command_long_get_target_component(const mavlink_message_t* msg)
344{
345 return _MAV_RETURN_uint8_t(msg, 31);
346}
347
353static inline uint16_t mavlink_msg_command_long_get_command(const mavlink_message_t* msg)
354{
355 return _MAV_RETURN_uint16_t(msg, 28);
356}
357
363static inline uint8_t mavlink_msg_command_long_get_confirmation(const mavlink_message_t* msg)
364{
365 return _MAV_RETURN_uint8_t(msg, 32);
366}
367
373static inline float mavlink_msg_command_long_get_param1(const mavlink_message_t* msg)
374{
375 return _MAV_RETURN_float(msg, 0);
376}
377
383static inline float mavlink_msg_command_long_get_param2(const mavlink_message_t* msg)
384{
385 return _MAV_RETURN_float(msg, 4);
386}
387
393static inline float mavlink_msg_command_long_get_param3(const mavlink_message_t* msg)
394{
395 return _MAV_RETURN_float(msg, 8);
396}
397
403static inline float mavlink_msg_command_long_get_param4(const mavlink_message_t* msg)
404{
405 return _MAV_RETURN_float(msg, 12);
406}
407
413static inline float mavlink_msg_command_long_get_param5(const mavlink_message_t* msg)
414{
415 return _MAV_RETURN_float(msg, 16);
416}
417
423static inline float mavlink_msg_command_long_get_param6(const mavlink_message_t* msg)
424{
425 return _MAV_RETURN_float(msg, 20);
426}
427
433static inline float mavlink_msg_command_long_get_param7(const mavlink_message_t* msg)
434{
435 return _MAV_RETURN_float(msg, 24);
436}
437
444static inline void mavlink_msg_command_long_decode(const mavlink_message_t* msg, mavlink_command_long_t* command_long)
445{
446#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
447 command_long->param1 = mavlink_msg_command_long_get_param1(msg);
448 command_long->param2 = mavlink_msg_command_long_get_param2(msg);
449 command_long->param3 = mavlink_msg_command_long_get_param3(msg);
450 command_long->param4 = mavlink_msg_command_long_get_param4(msg);
451 command_long->param5 = mavlink_msg_command_long_get_param5(msg);
452 command_long->param6 = mavlink_msg_command_long_get_param6(msg);
453 command_long->param7 = mavlink_msg_command_long_get_param7(msg);
454 command_long->command = mavlink_msg_command_long_get_command(msg);
455 command_long->target_system = mavlink_msg_command_long_get_target_system(msg);
456 command_long->target_component = mavlink_msg_command_long_get_target_component(msg);
457 command_long->confirmation = mavlink_msg_command_long_get_confirmation(msg);
458#else
459 uint8_t len = msg->len < MAVLINK_MSG_ID_COMMAND_LONG_LEN? msg->len : MAVLINK_MSG_ID_COMMAND_LONG_LEN;
460 memset(command_long, 0, MAVLINK_MSG_ID_COMMAND_LONG_LEN);
461 memcpy(command_long, _MAV_PAYLOAD(msg), len);
462#endif
463}
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