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mavlink_msg_manual_control.h
1#pragma once
2// MESSAGE MANUAL_CONTROL PACKING
3
4#define MAVLINK_MSG_ID_MANUAL_CONTROL 69
5
6MAVPACKED(
7typedef struct __mavlink_manual_control_t {
8 int16_t x; /*< X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.*/
9 int16_t y; /*< Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.*/
10 int16_t z; /*< Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.*/
11 int16_t r; /*< R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.*/
12 uint16_t buttons; /*< A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.*/
13 uint8_t target; /*< The system to be controlled.*/
14}) mavlink_manual_control_t;
15
16#define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 11
17#define MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN 11
18#define MAVLINK_MSG_ID_69_LEN 11
19#define MAVLINK_MSG_ID_69_MIN_LEN 11
20
21#define MAVLINK_MSG_ID_MANUAL_CONTROL_CRC 243
22#define MAVLINK_MSG_ID_69_CRC 243
23
24
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
28 69, \
29 "MANUAL_CONTROL", \
30 6, \
31 { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \
32 { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \
33 { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \
34 { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \
35 { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \
36 { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \
37 } \
38}
39#else
40#define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \
41 "MANUAL_CONTROL", \
42 6, \
43 { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \
44 { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \
45 { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \
46 { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \
47 { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \
48 { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \
49 } \
50}
51#endif
52
67static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
68 uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
69{
70#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
71 char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
72 _mav_put_int16_t(buf, 0, x);
73 _mav_put_int16_t(buf, 2, y);
74 _mav_put_int16_t(buf, 4, z);
75 _mav_put_int16_t(buf, 6, r);
76 _mav_put_uint16_t(buf, 8, buttons);
77 _mav_put_uint8_t(buf, 10, target);
78
79 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
80#else
81 mavlink_manual_control_t packet;
82 packet.x = x;
83 packet.y = y;
84 packet.z = z;
85 packet.r = r;
86 packet.buttons = buttons;
87 packet.target = target;
88
89 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
90#endif
91
92 msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
93 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
94}
95
110static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
111 mavlink_message_t* msg,
112 uint8_t target,int16_t x,int16_t y,int16_t z,int16_t r,uint16_t buttons)
113{
114#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
115 char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
116 _mav_put_int16_t(buf, 0, x);
117 _mav_put_int16_t(buf, 2, y);
118 _mav_put_int16_t(buf, 4, z);
119 _mav_put_int16_t(buf, 6, r);
120 _mav_put_uint16_t(buf, 8, buttons);
121 _mav_put_uint8_t(buf, 10, target);
122
123 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
124#else
125 mavlink_manual_control_t packet;
126 packet.x = x;
127 packet.y = y;
128 packet.z = z;
129 packet.r = r;
130 packet.buttons = buttons;
131 packet.target = target;
132
133 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
134#endif
135
136 msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL;
137 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
138}
139
148static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
149{
150 return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
151}
152
162static inline uint16_t mavlink_msg_manual_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control)
163{
164 return mavlink_msg_manual_control_pack_chan(system_id, component_id, chan, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
165}
166
178#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
179
180static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
181{
182#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
183 char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN];
184 _mav_put_int16_t(buf, 0, x);
185 _mav_put_int16_t(buf, 2, y);
186 _mav_put_int16_t(buf, 4, z);
187 _mav_put_int16_t(buf, 6, r);
188 _mav_put_uint16_t(buf, 8, buttons);
189 _mav_put_uint8_t(buf, 10, target);
190
191 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
192#else
193 mavlink_manual_control_t packet;
194 packet.x = x;
195 packet.y = y;
196 packet.z = z;
197 packet.r = r;
198 packet.buttons = buttons;
199 packet.target = target;
200
201 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
202#endif
203}
204
210static inline void mavlink_msg_manual_control_send_struct(mavlink_channel_t chan, const mavlink_manual_control_t* manual_control)
211{
212#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
213 mavlink_msg_manual_control_send(chan, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons);
214#else
215 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)manual_control, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
216#endif
217}
218
219#if MAVLINK_MSG_ID_MANUAL_CONTROL_LEN <= MAVLINK_MAX_PAYLOAD_LEN
220/*
221 This varient of _send() can be used to save stack space by re-using
222 memory from the receive buffer. The caller provides a
223 mavlink_message_t which is the size of a full mavlink message. This
224 is usually the receive buffer for the channel, and allows a reply to an
225 incoming message with minimum stack space usage.
226 */
227static inline void mavlink_msg_manual_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons)
228{
229#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
230 char *buf = (char *)msgbuf;
231 _mav_put_int16_t(buf, 0, x);
232 _mav_put_int16_t(buf, 2, y);
233 _mav_put_int16_t(buf, 4, z);
234 _mav_put_int16_t(buf, 6, r);
235 _mav_put_uint16_t(buf, 8, buttons);
236 _mav_put_uint8_t(buf, 10, target);
237
238 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
239#else
240 mavlink_manual_control_t *packet = (mavlink_manual_control_t *)msgbuf;
241 packet->x = x;
242 packet->y = y;
243 packet->z = z;
244 packet->r = r;
245 packet->buttons = buttons;
246 packet->target = target;
247
248 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC);
249#endif
250}
251#endif
252
253#endif
254
255// MESSAGE MANUAL_CONTROL UNPACKING
256
257
263static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg)
264{
265 return _MAV_RETURN_uint8_t(msg, 10);
266}
267
273static inline int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg)
274{
275 return _MAV_RETURN_int16_t(msg, 0);
276}
277
283static inline int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg)
284{
285 return _MAV_RETURN_int16_t(msg, 2);
286}
287
293static inline int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg)
294{
295 return _MAV_RETURN_int16_t(msg, 4);
296}
297
303static inline int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg)
304{
305 return _MAV_RETURN_int16_t(msg, 6);
306}
307
313static inline uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg)
314{
315 return _MAV_RETURN_uint16_t(msg, 8);
316}
317
324static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control)
325{
326#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
327 manual_control->x = mavlink_msg_manual_control_get_x(msg);
328 manual_control->y = mavlink_msg_manual_control_get_y(msg);
329 manual_control->z = mavlink_msg_manual_control_get_z(msg);
330 manual_control->r = mavlink_msg_manual_control_get_r(msg);
331 manual_control->buttons = mavlink_msg_manual_control_get_buttons(msg);
332 manual_control->target = mavlink_msg_manual_control_get_target(msg);
333#else
334 uint8_t len = msg->len < MAVLINK_MSG_ID_MANUAL_CONTROL_LEN? msg->len : MAVLINK_MSG_ID_MANUAL_CONTROL_LEN;
335 memset(manual_control, 0, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN);
336 memcpy(manual_control, _MAV_PAYLOAD(msg), len);
337#endif
338}
制作者 doxygen 1.11.0