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mavlink_msg_gimbal_control.h
1#pragma once
2// MESSAGE GIMBAL_CONTROL PACKING
3
4#define MAVLINK_MSG_ID_GIMBAL_CONTROL 201
5
6MAVPACKED(
7typedef struct __mavlink_gimbal_control_t {
8 float demanded_rate_x; /*< Demanded angular rate X (rad/s)*/
9 float demanded_rate_y; /*< Demanded angular rate Y (rad/s)*/
10 float demanded_rate_z; /*< Demanded angular rate Z (rad/s)*/
11 uint8_t target_system; /*< System ID*/
12 uint8_t target_component; /*< Component ID*/
13}) mavlink_gimbal_control_t;
14
15#define MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN 14
16#define MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN 14
17#define MAVLINK_MSG_ID_201_LEN 14
18#define MAVLINK_MSG_ID_201_MIN_LEN 14
19
20#define MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC 205
21#define MAVLINK_MSG_ID_201_CRC 205
22
23
24
25#if MAVLINK_COMMAND_24BIT
26#define MAVLINK_MESSAGE_INFO_GIMBAL_CONTROL { \
27 201, \
28 "GIMBAL_CONTROL", \
29 5, \
30 { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_gimbal_control_t, target_system) }, \
31 { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_gimbal_control_t, target_component) }, \
32 { "demanded_rate_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_gimbal_control_t, demanded_rate_x) }, \
33 { "demanded_rate_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_gimbal_control_t, demanded_rate_y) }, \
34 { "demanded_rate_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_gimbal_control_t, demanded_rate_z) }, \
35 } \
36}
37#else
38#define MAVLINK_MESSAGE_INFO_GIMBAL_CONTROL { \
39 "GIMBAL_CONTROL", \
40 5, \
41 { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_gimbal_control_t, target_system) }, \
42 { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_gimbal_control_t, target_component) }, \
43 { "demanded_rate_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_gimbal_control_t, demanded_rate_x) }, \
44 { "demanded_rate_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_gimbal_control_t, demanded_rate_y) }, \
45 { "demanded_rate_z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_gimbal_control_t, demanded_rate_z) }, \
46 } \
47}
48#endif
49
63static inline uint16_t mavlink_msg_gimbal_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
64 uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z)
65{
66#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
67 char buf[MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN];
68 _mav_put_float(buf, 0, demanded_rate_x);
69 _mav_put_float(buf, 4, demanded_rate_y);
70 _mav_put_float(buf, 8, demanded_rate_z);
71 _mav_put_uint8_t(buf, 12, target_system);
72 _mav_put_uint8_t(buf, 13, target_component);
73
74 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
75#else
76 mavlink_gimbal_control_t packet;
77 packet.demanded_rate_x = demanded_rate_x;
78 packet.demanded_rate_y = demanded_rate_y;
79 packet.demanded_rate_z = demanded_rate_z;
80 packet.target_system = target_system;
81 packet.target_component = target_component;
82
83 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
84#endif
85
86 msg->msgid = MAVLINK_MSG_ID_GIMBAL_CONTROL;
87 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
88}
89
103static inline uint16_t mavlink_msg_gimbal_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
104 mavlink_message_t* msg,
105 uint8_t target_system,uint8_t target_component,float demanded_rate_x,float demanded_rate_y,float demanded_rate_z)
106{
107#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
108 char buf[MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN];
109 _mav_put_float(buf, 0, demanded_rate_x);
110 _mav_put_float(buf, 4, demanded_rate_y);
111 _mav_put_float(buf, 8, demanded_rate_z);
112 _mav_put_uint8_t(buf, 12, target_system);
113 _mav_put_uint8_t(buf, 13, target_component);
114
115 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
116#else
117 mavlink_gimbal_control_t packet;
118 packet.demanded_rate_x = demanded_rate_x;
119 packet.demanded_rate_y = demanded_rate_y;
120 packet.demanded_rate_z = demanded_rate_z;
121 packet.target_system = target_system;
122 packet.target_component = target_component;
123
124 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
125#endif
126
127 msg->msgid = MAVLINK_MSG_ID_GIMBAL_CONTROL;
128 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
129}
130
139static inline uint16_t mavlink_msg_gimbal_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gimbal_control_t* gimbal_control)
140{
141 return mavlink_msg_gimbal_control_pack(system_id, component_id, msg, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z);
142}
143
153static inline uint16_t mavlink_msg_gimbal_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gimbal_control_t* gimbal_control)
154{
155 return mavlink_msg_gimbal_control_pack_chan(system_id, component_id, chan, msg, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z);
156}
157
168#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
169
170static inline void mavlink_msg_gimbal_control_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z)
171{
172#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
173 char buf[MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN];
174 _mav_put_float(buf, 0, demanded_rate_x);
175 _mav_put_float(buf, 4, demanded_rate_y);
176 _mav_put_float(buf, 8, demanded_rate_z);
177 _mav_put_uint8_t(buf, 12, target_system);
178 _mav_put_uint8_t(buf, 13, target_component);
179
180 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
181#else
182 mavlink_gimbal_control_t packet;
183 packet.demanded_rate_x = demanded_rate_x;
184 packet.demanded_rate_y = demanded_rate_y;
185 packet.demanded_rate_z = demanded_rate_z;
186 packet.target_system = target_system;
187 packet.target_component = target_component;
188
189 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
190#endif
191}
192
198static inline void mavlink_msg_gimbal_control_send_struct(mavlink_channel_t chan, const mavlink_gimbal_control_t* gimbal_control)
199{
200#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
201 mavlink_msg_gimbal_control_send(chan, gimbal_control->target_system, gimbal_control->target_component, gimbal_control->demanded_rate_x, gimbal_control->demanded_rate_y, gimbal_control->demanded_rate_z);
202#else
203 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, (const char *)gimbal_control, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
204#endif
205}
206
207#if MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
208/*
209 This varient of _send() can be used to save stack space by re-using
210 memory from the receive buffer. The caller provides a
211 mavlink_message_t which is the size of a full mavlink message. This
212 is usually the receive buffer for the channel, and allows a reply to an
213 incoming message with minimum stack space usage.
214 */
215static inline void mavlink_msg_gimbal_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float demanded_rate_x, float demanded_rate_y, float demanded_rate_z)
216{
217#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
218 char *buf = (char *)msgbuf;
219 _mav_put_float(buf, 0, demanded_rate_x);
220 _mav_put_float(buf, 4, demanded_rate_y);
221 _mav_put_float(buf, 8, demanded_rate_z);
222 _mav_put_uint8_t(buf, 12, target_system);
223 _mav_put_uint8_t(buf, 13, target_component);
224
225 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, buf, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
226#else
227 mavlink_gimbal_control_t *packet = (mavlink_gimbal_control_t *)msgbuf;
228 packet->demanded_rate_x = demanded_rate_x;
229 packet->demanded_rate_y = demanded_rate_y;
230 packet->demanded_rate_z = demanded_rate_z;
231 packet->target_system = target_system;
232 packet->target_component = target_component;
233
234 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_GIMBAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN, MAVLINK_MSG_ID_GIMBAL_CONTROL_CRC);
235#endif
236}
237#endif
238
239#endif
240
241// MESSAGE GIMBAL_CONTROL UNPACKING
242
243
249static inline uint8_t mavlink_msg_gimbal_control_get_target_system(const mavlink_message_t* msg)
250{
251 return _MAV_RETURN_uint8_t(msg, 12);
252}
253
259static inline uint8_t mavlink_msg_gimbal_control_get_target_component(const mavlink_message_t* msg)
260{
261 return _MAV_RETURN_uint8_t(msg, 13);
262}
263
269static inline float mavlink_msg_gimbal_control_get_demanded_rate_x(const mavlink_message_t* msg)
270{
271 return _MAV_RETURN_float(msg, 0);
272}
273
279static inline float mavlink_msg_gimbal_control_get_demanded_rate_y(const mavlink_message_t* msg)
280{
281 return _MAV_RETURN_float(msg, 4);
282}
283
289static inline float mavlink_msg_gimbal_control_get_demanded_rate_z(const mavlink_message_t* msg)
290{
291 return _MAV_RETURN_float(msg, 8);
292}
293
300static inline void mavlink_msg_gimbal_control_decode(const mavlink_message_t* msg, mavlink_gimbal_control_t* gimbal_control)
301{
302#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
303 gimbal_control->demanded_rate_x = mavlink_msg_gimbal_control_get_demanded_rate_x(msg);
304 gimbal_control->demanded_rate_y = mavlink_msg_gimbal_control_get_demanded_rate_y(msg);
305 gimbal_control->demanded_rate_z = mavlink_msg_gimbal_control_get_demanded_rate_z(msg);
306 gimbal_control->target_system = mavlink_msg_gimbal_control_get_target_system(msg);
307 gimbal_control->target_component = mavlink_msg_gimbal_control_get_target_component(msg);
308#else
309 uint8_t len = msg->len < MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN? msg->len : MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN;
310 memset(gimbal_control, 0, MAVLINK_MSG_ID_GIMBAL_CONTROL_LEN);
311 memcpy(gimbal_control, _MAV_PAYLOAD(msg), len);
312#endif
313}
制作者 doxygen 1.11.0