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mavlink_msg_slugs_navigation.h
1#pragma once
2// MESSAGE SLUGS_NAVIGATION PACKING
3
4#define MAVLINK_MSG_ID_SLUGS_NAVIGATION 176
5
6MAVPACKED(
7typedef struct __mavlink_slugs_navigation_t {
8 float u_m; /*< Measured Airspeed prior to the nav filter in m/s*/
9 float phi_c; /*< Commanded Roll*/
10 float theta_c; /*< Commanded Pitch*/
11 float psiDot_c; /*< Commanded Turn rate*/
12 float ay_body; /*< Y component of the body acceleration*/
13 float totalDist; /*< Total Distance to Run on this leg of Navigation*/
14 float dist2Go; /*< Remaining distance to Run on this leg of Navigation*/
15 uint16_t h_c; /*< Commanded altitude in 0.1 m*/
16 uint8_t fromWP; /*< Origin WP*/
17 uint8_t toWP; /*< Destination WP*/
18}) mavlink_slugs_navigation_t;
19
20#define MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN 32
21#define MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN 32
22#define MAVLINK_MSG_ID_176_LEN 32
23#define MAVLINK_MSG_ID_176_MIN_LEN 32
24
25#define MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC 228
26#define MAVLINK_MSG_ID_176_CRC 228
27
28
29
30#if MAVLINK_COMMAND_24BIT
31#define MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION { \
32 176, \
33 "SLUGS_NAVIGATION", \
34 10, \
35 { { "u_m", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_slugs_navigation_t, u_m) }, \
36 { "phi_c", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_slugs_navigation_t, phi_c) }, \
37 { "theta_c", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_slugs_navigation_t, theta_c) }, \
38 { "psiDot_c", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_slugs_navigation_t, psiDot_c) }, \
39 { "ay_body", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_slugs_navigation_t, ay_body) }, \
40 { "totalDist", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_slugs_navigation_t, totalDist) }, \
41 { "dist2Go", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_slugs_navigation_t, dist2Go) }, \
42 { "fromWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_slugs_navigation_t, fromWP) }, \
43 { "toWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_slugs_navigation_t, toWP) }, \
44 { "h_c", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_slugs_navigation_t, h_c) }, \
45 } \
46}
47#else
48#define MAVLINK_MESSAGE_INFO_SLUGS_NAVIGATION { \
49 "SLUGS_NAVIGATION", \
50 10, \
51 { { "u_m", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_slugs_navigation_t, u_m) }, \
52 { "phi_c", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_slugs_navigation_t, phi_c) }, \
53 { "theta_c", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_slugs_navigation_t, theta_c) }, \
54 { "psiDot_c", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_slugs_navigation_t, psiDot_c) }, \
55 { "ay_body", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_slugs_navigation_t, ay_body) }, \
56 { "totalDist", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_slugs_navigation_t, totalDist) }, \
57 { "dist2Go", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_slugs_navigation_t, dist2Go) }, \
58 { "fromWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_slugs_navigation_t, fromWP) }, \
59 { "toWP", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_slugs_navigation_t, toWP) }, \
60 { "h_c", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_slugs_navigation_t, h_c) }, \
61 } \
62}
63#endif
64
83static inline uint16_t mavlink_msg_slugs_navigation_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
84 float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP, uint16_t h_c)
85{
86#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
87 char buf[MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN];
88 _mav_put_float(buf, 0, u_m);
89 _mav_put_float(buf, 4, phi_c);
90 _mav_put_float(buf, 8, theta_c);
91 _mav_put_float(buf, 12, psiDot_c);
92 _mav_put_float(buf, 16, ay_body);
93 _mav_put_float(buf, 20, totalDist);
94 _mav_put_float(buf, 24, dist2Go);
95 _mav_put_uint16_t(buf, 28, h_c);
96 _mav_put_uint8_t(buf, 30, fromWP);
97 _mav_put_uint8_t(buf, 31, toWP);
98
99 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN);
100#else
101 mavlink_slugs_navigation_t packet;
102 packet.u_m = u_m;
103 packet.phi_c = phi_c;
104 packet.theta_c = theta_c;
105 packet.psiDot_c = psiDot_c;
106 packet.ay_body = ay_body;
107 packet.totalDist = totalDist;
108 packet.dist2Go = dist2Go;
109 packet.h_c = h_c;
110 packet.fromWP = fromWP;
111 packet.toWP = toWP;
112
113 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN);
114#endif
115
116 msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION;
117 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
118}
119
138static inline uint16_t mavlink_msg_slugs_navigation_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
139 mavlink_message_t* msg,
140 float u_m,float phi_c,float theta_c,float psiDot_c,float ay_body,float totalDist,float dist2Go,uint8_t fromWP,uint8_t toWP,uint16_t h_c)
141{
142#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
143 char buf[MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN];
144 _mav_put_float(buf, 0, u_m);
145 _mav_put_float(buf, 4, phi_c);
146 _mav_put_float(buf, 8, theta_c);
147 _mav_put_float(buf, 12, psiDot_c);
148 _mav_put_float(buf, 16, ay_body);
149 _mav_put_float(buf, 20, totalDist);
150 _mav_put_float(buf, 24, dist2Go);
151 _mav_put_uint16_t(buf, 28, h_c);
152 _mav_put_uint8_t(buf, 30, fromWP);
153 _mav_put_uint8_t(buf, 31, toWP);
154
155 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN);
156#else
157 mavlink_slugs_navigation_t packet;
158 packet.u_m = u_m;
159 packet.phi_c = phi_c;
160 packet.theta_c = theta_c;
161 packet.psiDot_c = psiDot_c;
162 packet.ay_body = ay_body;
163 packet.totalDist = totalDist;
164 packet.dist2Go = dist2Go;
165 packet.h_c = h_c;
166 packet.fromWP = fromWP;
167 packet.toWP = toWP;
168
169 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN);
170#endif
171
172 msg->msgid = MAVLINK_MSG_ID_SLUGS_NAVIGATION;
173 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
174}
175
184static inline uint16_t mavlink_msg_slugs_navigation_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_slugs_navigation_t* slugs_navigation)
185{
186 return mavlink_msg_slugs_navigation_pack(system_id, component_id, msg, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP, slugs_navigation->h_c);
187}
188
198static inline uint16_t mavlink_msg_slugs_navigation_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_slugs_navigation_t* slugs_navigation)
199{
200 return mavlink_msg_slugs_navigation_pack_chan(system_id, component_id, chan, msg, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP, slugs_navigation->h_c);
201}
202
218#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
219
220static inline void mavlink_msg_slugs_navigation_send(mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP, uint16_t h_c)
221{
222#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
223 char buf[MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN];
224 _mav_put_float(buf, 0, u_m);
225 _mav_put_float(buf, 4, phi_c);
226 _mav_put_float(buf, 8, theta_c);
227 _mav_put_float(buf, 12, psiDot_c);
228 _mav_put_float(buf, 16, ay_body);
229 _mav_put_float(buf, 20, totalDist);
230 _mav_put_float(buf, 24, dist2Go);
231 _mav_put_uint16_t(buf, 28, h_c);
232 _mav_put_uint8_t(buf, 30, fromWP);
233 _mav_put_uint8_t(buf, 31, toWP);
234
235 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
236#else
237 mavlink_slugs_navigation_t packet;
238 packet.u_m = u_m;
239 packet.phi_c = phi_c;
240 packet.theta_c = theta_c;
241 packet.psiDot_c = psiDot_c;
242 packet.ay_body = ay_body;
243 packet.totalDist = totalDist;
244 packet.dist2Go = dist2Go;
245 packet.h_c = h_c;
246 packet.fromWP = fromWP;
247 packet.toWP = toWP;
248
249 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)&packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
250#endif
251}
252
258static inline void mavlink_msg_slugs_navigation_send_struct(mavlink_channel_t chan, const mavlink_slugs_navigation_t* slugs_navigation)
259{
260#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
261 mavlink_msg_slugs_navigation_send(chan, slugs_navigation->u_m, slugs_navigation->phi_c, slugs_navigation->theta_c, slugs_navigation->psiDot_c, slugs_navigation->ay_body, slugs_navigation->totalDist, slugs_navigation->dist2Go, slugs_navigation->fromWP, slugs_navigation->toWP, slugs_navigation->h_c);
262#else
263 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)slugs_navigation, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
264#endif
265}
266
267#if MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
268/*
269 This varient of _send() can be used to save stack space by re-using
270 memory from the receive buffer. The caller provides a
271 mavlink_message_t which is the size of a full mavlink message. This
272 is usually the receive buffer for the channel, and allows a reply to an
273 incoming message with minimum stack space usage.
274 */
275static inline void mavlink_msg_slugs_navigation_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float u_m, float phi_c, float theta_c, float psiDot_c, float ay_body, float totalDist, float dist2Go, uint8_t fromWP, uint8_t toWP, uint16_t h_c)
276{
277#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
278 char *buf = (char *)msgbuf;
279 _mav_put_float(buf, 0, u_m);
280 _mav_put_float(buf, 4, phi_c);
281 _mav_put_float(buf, 8, theta_c);
282 _mav_put_float(buf, 12, psiDot_c);
283 _mav_put_float(buf, 16, ay_body);
284 _mav_put_float(buf, 20, totalDist);
285 _mav_put_float(buf, 24, dist2Go);
286 _mav_put_uint16_t(buf, 28, h_c);
287 _mav_put_uint8_t(buf, 30, fromWP);
288 _mav_put_uint8_t(buf, 31, toWP);
289
290 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, buf, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
291#else
292 mavlink_slugs_navigation_t *packet = (mavlink_slugs_navigation_t *)msgbuf;
293 packet->u_m = u_m;
294 packet->phi_c = phi_c;
295 packet->theta_c = theta_c;
296 packet->psiDot_c = psiDot_c;
297 packet->ay_body = ay_body;
298 packet->totalDist = totalDist;
299 packet->dist2Go = dist2Go;
300 packet->h_c = h_c;
301 packet->fromWP = fromWP;
302 packet->toWP = toWP;
303
304 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SLUGS_NAVIGATION, (const char *)packet, MAVLINK_MSG_ID_SLUGS_NAVIGATION_MIN_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN, MAVLINK_MSG_ID_SLUGS_NAVIGATION_CRC);
305#endif
306}
307#endif
308
309#endif
310
311// MESSAGE SLUGS_NAVIGATION UNPACKING
312
313
319static inline float mavlink_msg_slugs_navigation_get_u_m(const mavlink_message_t* msg)
320{
321 return _MAV_RETURN_float(msg, 0);
322}
323
329static inline float mavlink_msg_slugs_navigation_get_phi_c(const mavlink_message_t* msg)
330{
331 return _MAV_RETURN_float(msg, 4);
332}
333
339static inline float mavlink_msg_slugs_navigation_get_theta_c(const mavlink_message_t* msg)
340{
341 return _MAV_RETURN_float(msg, 8);
342}
343
349static inline float mavlink_msg_slugs_navigation_get_psiDot_c(const mavlink_message_t* msg)
350{
351 return _MAV_RETURN_float(msg, 12);
352}
353
359static inline float mavlink_msg_slugs_navigation_get_ay_body(const mavlink_message_t* msg)
360{
361 return _MAV_RETURN_float(msg, 16);
362}
363
369static inline float mavlink_msg_slugs_navigation_get_totalDist(const mavlink_message_t* msg)
370{
371 return _MAV_RETURN_float(msg, 20);
372}
373
379static inline float mavlink_msg_slugs_navigation_get_dist2Go(const mavlink_message_t* msg)
380{
381 return _MAV_RETURN_float(msg, 24);
382}
383
389static inline uint8_t mavlink_msg_slugs_navigation_get_fromWP(const mavlink_message_t* msg)
390{
391 return _MAV_RETURN_uint8_t(msg, 30);
392}
393
399static inline uint8_t mavlink_msg_slugs_navigation_get_toWP(const mavlink_message_t* msg)
400{
401 return _MAV_RETURN_uint8_t(msg, 31);
402}
403
409static inline uint16_t mavlink_msg_slugs_navigation_get_h_c(const mavlink_message_t* msg)
410{
411 return _MAV_RETURN_uint16_t(msg, 28);
412}
413
420static inline void mavlink_msg_slugs_navigation_decode(const mavlink_message_t* msg, mavlink_slugs_navigation_t* slugs_navigation)
421{
422#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
423 slugs_navigation->u_m = mavlink_msg_slugs_navigation_get_u_m(msg);
424 slugs_navigation->phi_c = mavlink_msg_slugs_navigation_get_phi_c(msg);
425 slugs_navigation->theta_c = mavlink_msg_slugs_navigation_get_theta_c(msg);
426 slugs_navigation->psiDot_c = mavlink_msg_slugs_navigation_get_psiDot_c(msg);
427 slugs_navigation->ay_body = mavlink_msg_slugs_navigation_get_ay_body(msg);
428 slugs_navigation->totalDist = mavlink_msg_slugs_navigation_get_totalDist(msg);
429 slugs_navigation->dist2Go = mavlink_msg_slugs_navigation_get_dist2Go(msg);
430 slugs_navigation->h_c = mavlink_msg_slugs_navigation_get_h_c(msg);
431 slugs_navigation->fromWP = mavlink_msg_slugs_navigation_get_fromWP(msg);
432 slugs_navigation->toWP = mavlink_msg_slugs_navigation_get_toWP(msg);
433#else
434 uint8_t len = msg->len < MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN? msg->len : MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN;
435 memset(slugs_navigation, 0, MAVLINK_MSG_ID_SLUGS_NAVIGATION_LEN);
436 memcpy(slugs_navigation, _MAV_PAYLOAD(msg), len);
437#endif
438}
制作者 doxygen 1.11.0