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mavlink_msg_set_actuator_control_target.h
1#pragma once
2// MESSAGE SET_ACTUATOR_CONTROL_TARGET PACKING
3
4#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET 139
5
6MAVPACKED(
7typedef struct __mavlink_set_actuator_control_target_t {
8 uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
9 float controls[8]; /*< Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.*/
10 uint8_t group_mlx; /*< Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.*/
11 uint8_t target_system; /*< System ID*/
12 uint8_t target_component; /*< Component ID*/
13}) mavlink_set_actuator_control_target_t;
14
15#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN 43
16#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN 43
17#define MAVLINK_MSG_ID_139_LEN 43
18#define MAVLINK_MSG_ID_139_MIN_LEN 43
19
20#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC 168
21#define MAVLINK_MSG_ID_139_CRC 168
22
23#define MAVLINK_MSG_SET_ACTUATOR_CONTROL_TARGET_FIELD_CONTROLS_LEN 8
24
25#if MAVLINK_COMMAND_24BIT
26#define MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET { \
27 139, \
28 "SET_ACTUATOR_CONTROL_TARGET", \
29 5, \
30 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_set_actuator_control_target_t, time_usec) }, \
31 { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_set_actuator_control_target_t, group_mlx) }, \
32 { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_set_actuator_control_target_t, target_system) }, \
33 { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_set_actuator_control_target_t, target_component) }, \
34 { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_set_actuator_control_target_t, controls) }, \
35 } \
36}
37#else
38#define MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET { \
39 "SET_ACTUATOR_CONTROL_TARGET", \
40 5, \
41 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_set_actuator_control_target_t, time_usec) }, \
42 { "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_set_actuator_control_target_t, group_mlx) }, \
43 { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_set_actuator_control_target_t, target_system) }, \
44 { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_set_actuator_control_target_t, target_component) }, \
45 { "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_set_actuator_control_target_t, controls) }, \
46 } \
47}
48#endif
49
63static inline uint16_t mavlink_msg_set_actuator_control_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
64 uint64_t time_usec, uint8_t group_mlx, uint8_t target_system, uint8_t target_component, const float *controls)
65{
66#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
67 char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN];
68 _mav_put_uint64_t(buf, 0, time_usec);
69 _mav_put_uint8_t(buf, 40, group_mlx);
70 _mav_put_uint8_t(buf, 41, target_system);
71 _mav_put_uint8_t(buf, 42, target_component);
72 _mav_put_float_array(buf, 8, controls, 8);
73 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
74#else
75 mavlink_set_actuator_control_target_t packet;
76 packet.time_usec = time_usec;
77 packet.group_mlx = group_mlx;
78 packet.target_system = target_system;
79 packet.target_component = target_component;
80 mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
81 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
82#endif
83
84 msg->msgid = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET;
85 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
86}
87
101static inline uint16_t mavlink_msg_set_actuator_control_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
102 mavlink_message_t* msg,
103 uint64_t time_usec,uint8_t group_mlx,uint8_t target_system,uint8_t target_component,const float *controls)
104{
105#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
106 char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN];
107 _mav_put_uint64_t(buf, 0, time_usec);
108 _mav_put_uint8_t(buf, 40, group_mlx);
109 _mav_put_uint8_t(buf, 41, target_system);
110 _mav_put_uint8_t(buf, 42, target_component);
111 _mav_put_float_array(buf, 8, controls, 8);
112 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
113#else
114 mavlink_set_actuator_control_target_t packet;
115 packet.time_usec = time_usec;
116 packet.group_mlx = group_mlx;
117 packet.target_system = target_system;
118 packet.target_component = target_component;
119 mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
120 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
121#endif
122
123 msg->msgid = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET;
124 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
125}
126
135static inline uint16_t mavlink_msg_set_actuator_control_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_actuator_control_target_t* set_actuator_control_target)
136{
137 return mavlink_msg_set_actuator_control_target_pack(system_id, component_id, msg, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls);
138}
139
149static inline uint16_t mavlink_msg_set_actuator_control_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_actuator_control_target_t* set_actuator_control_target)
150{
151 return mavlink_msg_set_actuator_control_target_pack_chan(system_id, component_id, chan, msg, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls);
152}
153
164#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
165
166static inline void mavlink_msg_set_actuator_control_target_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t group_mlx, uint8_t target_system, uint8_t target_component, const float *controls)
167{
168#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
169 char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN];
170 _mav_put_uint64_t(buf, 0, time_usec);
171 _mav_put_uint8_t(buf, 40, group_mlx);
172 _mav_put_uint8_t(buf, 41, target_system);
173 _mav_put_uint8_t(buf, 42, target_component);
174 _mav_put_float_array(buf, 8, controls, 8);
175 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
176#else
177 mavlink_set_actuator_control_target_t packet;
178 packet.time_usec = time_usec;
179 packet.group_mlx = group_mlx;
180 packet.target_system = target_system;
181 packet.target_component = target_component;
182 mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
183 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)&packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
184#endif
185}
186
192static inline void mavlink_msg_set_actuator_control_target_send_struct(mavlink_channel_t chan, const mavlink_set_actuator_control_target_t* set_actuator_control_target)
193{
194#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
195 mavlink_msg_set_actuator_control_target_send(chan, set_actuator_control_target->time_usec, set_actuator_control_target->group_mlx, set_actuator_control_target->target_system, set_actuator_control_target->target_component, set_actuator_control_target->controls);
196#else
197 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)set_actuator_control_target, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
198#endif
199}
200
201#if MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
202/*
203 This varient of _send() can be used to save stack space by re-using
204 memory from the receive buffer. The caller provides a
205 mavlink_message_t which is the size of a full mavlink message. This
206 is usually the receive buffer for the channel, and allows a reply to an
207 incoming message with minimum stack space usage.
208 */
209static inline void mavlink_msg_set_actuator_control_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t group_mlx, uint8_t target_system, uint8_t target_component, const float *controls)
210{
211#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
212 char *buf = (char *)msgbuf;
213 _mav_put_uint64_t(buf, 0, time_usec);
214 _mav_put_uint8_t(buf, 40, group_mlx);
215 _mav_put_uint8_t(buf, 41, target_system);
216 _mav_put_uint8_t(buf, 42, target_component);
217 _mav_put_float_array(buf, 8, controls, 8);
218 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
219#else
220 mavlink_set_actuator_control_target_t *packet = (mavlink_set_actuator_control_target_t *)msgbuf;
221 packet->time_usec = time_usec;
222 packet->group_mlx = group_mlx;
223 packet->target_system = target_system;
224 packet->target_component = target_component;
225 mav_array_memcpy(packet->controls, controls, sizeof(float)*8);
226 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET, (const char *)packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC);
227#endif
228}
229#endif
230
231#endif
232
233// MESSAGE SET_ACTUATOR_CONTROL_TARGET UNPACKING
234
235
241static inline uint64_t mavlink_msg_set_actuator_control_target_get_time_usec(const mavlink_message_t* msg)
242{
243 return _MAV_RETURN_uint64_t(msg, 0);
244}
245
251static inline uint8_t mavlink_msg_set_actuator_control_target_get_group_mlx(const mavlink_message_t* msg)
252{
253 return _MAV_RETURN_uint8_t(msg, 40);
254}
255
261static inline uint8_t mavlink_msg_set_actuator_control_target_get_target_system(const mavlink_message_t* msg)
262{
263 return _MAV_RETURN_uint8_t(msg, 41);
264}
265
271static inline uint8_t mavlink_msg_set_actuator_control_target_get_target_component(const mavlink_message_t* msg)
272{
273 return _MAV_RETURN_uint8_t(msg, 42);
274}
275
281static inline uint16_t mavlink_msg_set_actuator_control_target_get_controls(const mavlink_message_t* msg, float *controls)
282{
283 return _MAV_RETURN_float_array(msg, controls, 8, 8);
284}
285
292static inline void mavlink_msg_set_actuator_control_target_decode(const mavlink_message_t* msg, mavlink_set_actuator_control_target_t* set_actuator_control_target)
293{
294#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
295 set_actuator_control_target->time_usec = mavlink_msg_set_actuator_control_target_get_time_usec(msg);
296 mavlink_msg_set_actuator_control_target_get_controls(msg, set_actuator_control_target->controls);
297 set_actuator_control_target->group_mlx = mavlink_msg_set_actuator_control_target_get_group_mlx(msg);
298 set_actuator_control_target->target_system = mavlink_msg_set_actuator_control_target_get_target_system(msg);
299 set_actuator_control_target->target_component = mavlink_msg_set_actuator_control_target_get_target_component(msg);
300#else
301 uint8_t len = msg->len < MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN? msg->len : MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN;
302 memset(set_actuator_control_target, 0, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
303 memcpy(set_actuator_control_target, _MAV_PAYLOAD(msg), len);
304#endif
305}
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