#pragma once
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// MESSAGE GIMBAL_TORQUE_CMD_REPORT PACKING
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#define MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT 214
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typedef struct __mavlink_gimbal_torque_cmd_report_t {
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int16_t rl_torque_cmd; /*< Roll Torque Command.*/
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int16_t el_torque_cmd; /*< Elevation Torque Command.*/
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int16_t az_torque_cmd; /*< Azimuth Torque Command.*/
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uint8_t target_system; /*< System ID.*/
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uint8_t target_component; /*< Component ID.*/
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} mavlink_gimbal_torque_cmd_report_t;
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#define MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN 8
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#define MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_MIN_LEN 8
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#define MAVLINK_MSG_ID_214_LEN 8
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#define MAVLINK_MSG_ID_214_MIN_LEN 8
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#define MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_CRC 69
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#define MAVLINK_MSG_ID_214_CRC 69
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_GIMBAL_TORQUE_CMD_REPORT { \
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214, \
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"GIMBAL_TORQUE_CMD_REPORT", \
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5, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_gimbal_torque_cmd_report_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_gimbal_torque_cmd_report_t, target_component) }, \
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{ "rl_torque_cmd", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_gimbal_torque_cmd_report_t, rl_torque_cmd) }, \
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{ "el_torque_cmd", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_gimbal_torque_cmd_report_t, el_torque_cmd) }, \
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{ "az_torque_cmd", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_gimbal_torque_cmd_report_t, az_torque_cmd) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_GIMBAL_TORQUE_CMD_REPORT { \
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"GIMBAL_TORQUE_CMD_REPORT", \
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5, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 6, offsetof(mavlink_gimbal_torque_cmd_report_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 7, offsetof(mavlink_gimbal_torque_cmd_report_t, target_component) }, \
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{ "rl_torque_cmd", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_gimbal_torque_cmd_report_t, rl_torque_cmd) }, \
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{ "el_torque_cmd", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_gimbal_torque_cmd_report_t, el_torque_cmd) }, \
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{ "az_torque_cmd", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_gimbal_torque_cmd_report_t, az_torque_cmd) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a gimbal_torque_cmd_report message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param target_system System ID.
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* @param target_component Component ID.
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* @param rl_torque_cmd Roll Torque Command.
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* @param el_torque_cmd Elevation Torque Command.
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* @param az_torque_cmd Azimuth Torque Command.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_gimbal_torque_cmd_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, int16_t rl_torque_cmd, int16_t el_torque_cmd, int16_t az_torque_cmd)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN];
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_mav_put_int16_t(buf, 0, rl_torque_cmd);
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_mav_put_int16_t(buf, 2, el_torque_cmd);
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_mav_put_int16_t(buf, 4, az_torque_cmd);
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_mav_put_uint8_t(buf, 6, target_system);
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_mav_put_uint8_t(buf, 7, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN);
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#else
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mavlink_gimbal_torque_cmd_report_t packet;
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packet.rl_torque_cmd = rl_torque_cmd;
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packet.el_torque_cmd = el_torque_cmd;
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packet.az_torque_cmd = az_torque_cmd;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_CRC);
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}
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/**
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* @brief Pack a gimbal_torque_cmd_report message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param target_system System ID.
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* @param target_component Component ID.
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* @param rl_torque_cmd Roll Torque Command.
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* @param el_torque_cmd Elevation Torque Command.
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* @param az_torque_cmd Azimuth Torque Command.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_gimbal_torque_cmd_report_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint8_t target_system,uint8_t target_component,int16_t rl_torque_cmd,int16_t el_torque_cmd,int16_t az_torque_cmd)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN];
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_mav_put_int16_t(buf, 0, rl_torque_cmd);
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_mav_put_int16_t(buf, 2, el_torque_cmd);
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_mav_put_int16_t(buf, 4, az_torque_cmd);
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_mav_put_uint8_t(buf, 6, target_system);
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_mav_put_uint8_t(buf, 7, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN);
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#else
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mavlink_gimbal_torque_cmd_report_t packet;
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packet.rl_torque_cmd = rl_torque_cmd;
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packet.el_torque_cmd = el_torque_cmd;
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packet.az_torque_cmd = az_torque_cmd;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_CRC);
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}
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/**
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* @brief Encode a gimbal_torque_cmd_report struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param gimbal_torque_cmd_report C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gimbal_torque_cmd_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gimbal_torque_cmd_report_t* gimbal_torque_cmd_report)
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{
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return mavlink_msg_gimbal_torque_cmd_report_pack(system_id, component_id, msg, gimbal_torque_cmd_report->target_system, gimbal_torque_cmd_report->target_component, gimbal_torque_cmd_report->rl_torque_cmd, gimbal_torque_cmd_report->el_torque_cmd, gimbal_torque_cmd_report->az_torque_cmd);
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}
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/**
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* @brief Encode a gimbal_torque_cmd_report struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param gimbal_torque_cmd_report C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gimbal_torque_cmd_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gimbal_torque_cmd_report_t* gimbal_torque_cmd_report)
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{
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return mavlink_msg_gimbal_torque_cmd_report_pack_chan(system_id, component_id, chan, msg, gimbal_torque_cmd_report->target_system, gimbal_torque_cmd_report->target_component, gimbal_torque_cmd_report->rl_torque_cmd, gimbal_torque_cmd_report->el_torque_cmd, gimbal_torque_cmd_report->az_torque_cmd);
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}
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/**
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* @brief Send a gimbal_torque_cmd_report message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID.
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* @param target_component Component ID.
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* @param rl_torque_cmd Roll Torque Command.
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* @param el_torque_cmd Elevation Torque Command.
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* @param az_torque_cmd Azimuth Torque Command.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_gimbal_torque_cmd_report_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t rl_torque_cmd, int16_t el_torque_cmd, int16_t az_torque_cmd)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN];
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_mav_put_int16_t(buf, 0, rl_torque_cmd);
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_mav_put_int16_t(buf, 2, el_torque_cmd);
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_mav_put_int16_t(buf, 4, az_torque_cmd);
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_mav_put_uint8_t(buf, 6, target_system);
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_mav_put_uint8_t(buf, 7, target_component);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT, buf, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_CRC);
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#else
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mavlink_gimbal_torque_cmd_report_t packet;
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packet.rl_torque_cmd = rl_torque_cmd;
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packet.el_torque_cmd = el_torque_cmd;
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packet.az_torque_cmd = az_torque_cmd;
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packet.target_system = target_system;
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packet.target_component = target_component;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT, (const char *)&packet, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_CRC);
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#endif
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}
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/**
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* @brief Send a gimbal_torque_cmd_report message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_gimbal_torque_cmd_report_send_struct(mavlink_channel_t chan, const mavlink_gimbal_torque_cmd_report_t* gimbal_torque_cmd_report)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_gimbal_torque_cmd_report_send(chan, gimbal_torque_cmd_report->target_system, gimbal_torque_cmd_report->target_component, gimbal_torque_cmd_report->rl_torque_cmd, gimbal_torque_cmd_report->el_torque_cmd, gimbal_torque_cmd_report->az_torque_cmd);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT, (const char *)gimbal_torque_cmd_report, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This variant of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_gimbal_torque_cmd_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, int16_t rl_torque_cmd, int16_t el_torque_cmd, int16_t az_torque_cmd)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_int16_t(buf, 0, rl_torque_cmd);
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_mav_put_int16_t(buf, 2, el_torque_cmd);
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_mav_put_int16_t(buf, 4, az_torque_cmd);
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_mav_put_uint8_t(buf, 6, target_system);
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_mav_put_uint8_t(buf, 7, target_component);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT, buf, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_CRC);
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#else
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mavlink_gimbal_torque_cmd_report_t *packet = (mavlink_gimbal_torque_cmd_report_t *)msgbuf;
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packet->rl_torque_cmd = rl_torque_cmd;
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packet->el_torque_cmd = el_torque_cmd;
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packet->az_torque_cmd = az_torque_cmd;
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packet->target_system = target_system;
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packet->target_component = target_component;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT, (const char *)packet, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE GIMBAL_TORQUE_CMD_REPORT UNPACKING
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/**
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* @brief Get field target_system from gimbal_torque_cmd_report message
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*
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* @return System ID.
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*/
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static inline uint8_t mavlink_msg_gimbal_torque_cmd_report_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 6);
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}
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/**
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* @brief Get field target_component from gimbal_torque_cmd_report message
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*
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* @return Component ID.
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*/
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static inline uint8_t mavlink_msg_gimbal_torque_cmd_report_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 7);
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}
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/**
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* @brief Get field rl_torque_cmd from gimbal_torque_cmd_report message
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*
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* @return Roll Torque Command.
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*/
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static inline int16_t mavlink_msg_gimbal_torque_cmd_report_get_rl_torque_cmd(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 0);
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}
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/**
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* @brief Get field el_torque_cmd from gimbal_torque_cmd_report message
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*
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* @return Elevation Torque Command.
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*/
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static inline int16_t mavlink_msg_gimbal_torque_cmd_report_get_el_torque_cmd(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 2);
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}
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/**
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* @brief Get field az_torque_cmd from gimbal_torque_cmd_report message
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*
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* @return Azimuth Torque Command.
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*/
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static inline int16_t mavlink_msg_gimbal_torque_cmd_report_get_az_torque_cmd(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 4);
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}
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/**
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* @brief Decode a gimbal_torque_cmd_report message into a struct
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*
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* @param msg The message to decode
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* @param gimbal_torque_cmd_report C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_gimbal_torque_cmd_report_decode(const mavlink_message_t* msg, mavlink_gimbal_torque_cmd_report_t* gimbal_torque_cmd_report)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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gimbal_torque_cmd_report->rl_torque_cmd = mavlink_msg_gimbal_torque_cmd_report_get_rl_torque_cmd(msg);
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gimbal_torque_cmd_report->el_torque_cmd = mavlink_msg_gimbal_torque_cmd_report_get_el_torque_cmd(msg);
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gimbal_torque_cmd_report->az_torque_cmd = mavlink_msg_gimbal_torque_cmd_report_get_az_torque_cmd(msg);
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gimbal_torque_cmd_report->target_system = mavlink_msg_gimbal_torque_cmd_report_get_target_system(msg);
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gimbal_torque_cmd_report->target_component = mavlink_msg_gimbal_torque_cmd_report_get_target_component(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN? msg->len : MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN;
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memset(gimbal_torque_cmd_report, 0, MAVLINK_MSG_ID_GIMBAL_TORQUE_CMD_REPORT_LEN);
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memcpy(gimbal_torque_cmd_report, _MAV_PAYLOAD(msg), len);
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#endif
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}
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