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mavlink_msg_hil_actuator_controls.h
1#pragma once
2// MESSAGE HIL_ACTUATOR_CONTROLS PACKING
3
4#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS 93
5
6MAVPACKED(
7typedef struct __mavlink_hil_actuator_controls_t {
8 uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
9 uint64_t flags; /*< Flags as bitfield, reserved for future use.*/
10 float controls[16]; /*< Control outputs -1 .. 1. Channel assignment depends on the simulated hardware.*/
11 uint8_t mode; /*< System mode (MAV_MODE), includes arming state.*/
12}) mavlink_hil_actuator_controls_t;
13
14#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN 81
15#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN 81
16#define MAVLINK_MSG_ID_93_LEN 81
17#define MAVLINK_MSG_ID_93_MIN_LEN 81
18
19#define MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC 47
20#define MAVLINK_MSG_ID_93_CRC 47
21
22#define MAVLINK_MSG_HIL_ACTUATOR_CONTROLS_FIELD_CONTROLS_LEN 16
23
24#if MAVLINK_COMMAND_24BIT
25#define MAVLINK_MESSAGE_INFO_HIL_ACTUATOR_CONTROLS { \
26 93, \
27 "HIL_ACTUATOR_CONTROLS", \
28 4, \
29 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
30 { "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 16, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
31 { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
32 { "flags", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
33 } \
34}
35#else
36#define MAVLINK_MESSAGE_INFO_HIL_ACTUATOR_CONTROLS { \
37 "HIL_ACTUATOR_CONTROLS", \
38 4, \
39 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_actuator_controls_t, time_usec) }, \
40 { "controls", NULL, MAVLINK_TYPE_FLOAT, 16, 16, offsetof(mavlink_hil_actuator_controls_t, controls) }, \
41 { "mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_hil_actuator_controls_t, mode) }, \
42 { "flags", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_hil_actuator_controls_t, flags) }, \
43 } \
44}
45#endif
46
59static inline uint16_t mavlink_msg_hil_actuator_controls_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
60 uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
61{
62#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
63 char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
64 _mav_put_uint64_t(buf, 0, time_usec);
65 _mav_put_uint64_t(buf, 8, flags);
66 _mav_put_uint8_t(buf, 80, mode);
67 _mav_put_float_array(buf, 16, controls, 16);
68 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
69#else
70 mavlink_hil_actuator_controls_t packet;
71 packet.time_usec = time_usec;
72 packet.flags = flags;
73 packet.mode = mode;
74 mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
75 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
76#endif
77
78 msg->msgid = MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS;
79 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
80}
81
94static inline uint16_t mavlink_msg_hil_actuator_controls_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
95 mavlink_message_t* msg,
96 uint64_t time_usec,const float *controls,uint8_t mode,uint64_t flags)
97{
98#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
99 char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
100 _mav_put_uint64_t(buf, 0, time_usec);
101 _mav_put_uint64_t(buf, 8, flags);
102 _mav_put_uint8_t(buf, 80, mode);
103 _mav_put_float_array(buf, 16, controls, 16);
104 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
105#else
106 mavlink_hil_actuator_controls_t packet;
107 packet.time_usec = time_usec;
108 packet.flags = flags;
109 packet.mode = mode;
110 mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
111 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
112#endif
113
114 msg->msgid = MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS;
115 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
116}
117
126static inline uint16_t mavlink_msg_hil_actuator_controls_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
127{
128 return mavlink_msg_hil_actuator_controls_pack(system_id, component_id, msg, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
129}
130
140static inline uint16_t mavlink_msg_hil_actuator_controls_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
141{
142 return mavlink_msg_hil_actuator_controls_pack_chan(system_id, component_id, chan, msg, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
143}
144
154#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
155
156static inline void mavlink_msg_hil_actuator_controls_send(mavlink_channel_t chan, uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
157{
158#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
159 char buf[MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN];
160 _mav_put_uint64_t(buf, 0, time_usec);
161 _mav_put_uint64_t(buf, 8, flags);
162 _mav_put_uint8_t(buf, 80, mode);
163 _mav_put_float_array(buf, 16, controls, 16);
164 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
165#else
166 mavlink_hil_actuator_controls_t packet;
167 packet.time_usec = time_usec;
168 packet.flags = flags;
169 packet.mode = mode;
170 mav_array_memcpy(packet.controls, controls, sizeof(float)*16);
171 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)&packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
172#endif
173}
174
180static inline void mavlink_msg_hil_actuator_controls_send_struct(mavlink_channel_t chan, const mavlink_hil_actuator_controls_t* hil_actuator_controls)
181{
182#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
183 mavlink_msg_hil_actuator_controls_send(chan, hil_actuator_controls->time_usec, hil_actuator_controls->controls, hil_actuator_controls->mode, hil_actuator_controls->flags);
184#else
185 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)hil_actuator_controls, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
186#endif
187}
188
189#if MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
190/*
191 This varient of _send() can be used to save stack space by re-using
192 memory from the receive buffer. The caller provides a
193 mavlink_message_t which is the size of a full mavlink message. This
194 is usually the receive buffer for the channel, and allows a reply to an
195 incoming message with minimum stack space usage.
196 */
197static inline void mavlink_msg_hil_actuator_controls_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *controls, uint8_t mode, uint64_t flags)
198{
199#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
200 char *buf = (char *)msgbuf;
201 _mav_put_uint64_t(buf, 0, time_usec);
202 _mav_put_uint64_t(buf, 8, flags);
203 _mav_put_uint8_t(buf, 80, mode);
204 _mav_put_float_array(buf, 16, controls, 16);
205 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, buf, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
206#else
207 mavlink_hil_actuator_controls_t *packet = (mavlink_hil_actuator_controls_t *)msgbuf;
208 packet->time_usec = time_usec;
209 packet->flags = flags;
210 packet->mode = mode;
211 mav_array_memcpy(packet->controls, controls, sizeof(float)*16);
212 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS, (const char *)packet, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_MIN_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_CRC);
213#endif
214}
215#endif
216
217#endif
218
219// MESSAGE HIL_ACTUATOR_CONTROLS UNPACKING
220
221
227static inline uint64_t mavlink_msg_hil_actuator_controls_get_time_usec(const mavlink_message_t* msg)
228{
229 return _MAV_RETURN_uint64_t(msg, 0);
230}
231
237static inline uint16_t mavlink_msg_hil_actuator_controls_get_controls(const mavlink_message_t* msg, float *controls)
238{
239 return _MAV_RETURN_float_array(msg, controls, 16, 16);
240}
241
247static inline uint8_t mavlink_msg_hil_actuator_controls_get_mode(const mavlink_message_t* msg)
248{
249 return _MAV_RETURN_uint8_t(msg, 80);
250}
251
257static inline uint64_t mavlink_msg_hil_actuator_controls_get_flags(const mavlink_message_t* msg)
258{
259 return _MAV_RETURN_uint64_t(msg, 8);
260}
261
268static inline void mavlink_msg_hil_actuator_controls_decode(const mavlink_message_t* msg, mavlink_hil_actuator_controls_t* hil_actuator_controls)
269{
270#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
271 hil_actuator_controls->time_usec = mavlink_msg_hil_actuator_controls_get_time_usec(msg);
272 hil_actuator_controls->flags = mavlink_msg_hil_actuator_controls_get_flags(msg);
273 mavlink_msg_hil_actuator_controls_get_controls(msg, hil_actuator_controls->controls);
274 hil_actuator_controls->mode = mavlink_msg_hil_actuator_controls_get_mode(msg);
275#else
276 uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN? msg->len : MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN;
277 memset(hil_actuator_controls, 0, MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS_LEN);
278 memcpy(hil_actuator_controls, _MAV_PAYLOAD(msg), len);
279#endif
280}
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