#pragma once
|
// MESSAGE SET_ACTUATOR_CONTROL_TARGET PACKING
|
|
#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET 139
|
|
|
typedef struct __mavlink_set_actuator_control_target_t {
|
uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
|
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.*/
|
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.*/
|
uint8_t target_system; /*< System ID*/
|
uint8_t target_component; /*< Component ID*/
|
} mavlink_set_actuator_control_target_t;
|
|
#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN 43
|
#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_MIN_LEN 43
|
#define MAVLINK_MSG_ID_139_LEN 43
|
#define MAVLINK_MSG_ID_139_MIN_LEN 43
|
|
#define MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_CRC 168
|
#define MAVLINK_MSG_ID_139_CRC 168
|
|
#define MAVLINK_MSG_SET_ACTUATOR_CONTROL_TARGET_FIELD_CONTROLS_LEN 8
|
|
#if MAVLINK_COMMAND_24BIT
|
#define MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET { \
|
139, \
|
"SET_ACTUATOR_CONTROL_TARGET", \
|
5, \
|
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_set_actuator_control_target_t, time_usec) }, \
|
{ "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_set_actuator_control_target_t, group_mlx) }, \
|
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_set_actuator_control_target_t, target_system) }, \
|
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_set_actuator_control_target_t, target_component) }, \
|
{ "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_set_actuator_control_target_t, controls) }, \
|
} \
|
}
|
#else
|
#define MAVLINK_MESSAGE_INFO_SET_ACTUATOR_CONTROL_TARGET { \
|
"SET_ACTUATOR_CONTROL_TARGET", \
|
5, \
|
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_set_actuator_control_target_t, time_usec) }, \
|
{ "group_mlx", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_set_actuator_control_target_t, group_mlx) }, \
|
{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_set_actuator_control_target_t, target_system) }, \
|
{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_set_actuator_control_target_t, target_component) }, \
|
{ "controls", NULL, MAVLINK_TYPE_FLOAT, 8, 8, offsetof(mavlink_set_actuator_control_target_t, controls) }, \
|
} \
|
}
|
#endif
|
|
/**
|
* @brief Pack a set_actuator_control_target message
|
* @param system_id ID of this system
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
* @param msg The MAVLink message to compress the data into
|
*
|
* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
|
* @param 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.
|
* @param target_system System ID
|
* @param target_component Component ID
|
* @param controls 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.
|
* @return length of the message in bytes (excluding serial stream start sign)
|
*/
|
static inline uint16_t mavlink_msg_set_actuator_control_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
uint64_t time_usec, uint8_t group_mlx, uint8_t target_system, uint8_t target_component, const float *controls)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN];
|
_mav_put_uint64_t(buf, 0, time_usec);
|
_mav_put_uint8_t(buf, 40, group_mlx);
|
_mav_put_uint8_t(buf, 41, target_system);
|
_mav_put_uint8_t(buf, 42, target_component);
|
_mav_put_float_array(buf, 8, controls, 8);
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
|
#else
|
mavlink_set_actuator_control_target_t packet;
|
packet.time_usec = time_usec;
|
packet.group_mlx = group_mlx;
|
packet.target_system = target_system;
|
packet.target_component = target_component;
|
mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
|
#endif
|
|
msg->msgid = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET;
|
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);
|
}
|
|
/**
|
* @brief Pack a set_actuator_control_target message on a channel
|
* @param system_id ID of this system
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
* @param chan The MAVLink channel this message will be sent over
|
* @param msg The MAVLink message to compress the data into
|
* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
|
* @param 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.
|
* @param target_system System ID
|
* @param target_component Component ID
|
* @param controls 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.
|
* @return length of the message in bytes (excluding serial stream start sign)
|
*/
|
static inline uint16_t mavlink_msg_set_actuator_control_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
mavlink_message_t* msg,
|
uint64_t time_usec,uint8_t group_mlx,uint8_t target_system,uint8_t target_component,const float *controls)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN];
|
_mav_put_uint64_t(buf, 0, time_usec);
|
_mav_put_uint8_t(buf, 40, group_mlx);
|
_mav_put_uint8_t(buf, 41, target_system);
|
_mav_put_uint8_t(buf, 42, target_component);
|
_mav_put_float_array(buf, 8, controls, 8);
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
|
#else
|
mavlink_set_actuator_control_target_t packet;
|
packet.time_usec = time_usec;
|
packet.group_mlx = group_mlx;
|
packet.target_system = target_system;
|
packet.target_component = target_component;
|
mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
|
#endif
|
|
msg->msgid = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET;
|
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);
|
}
|
|
/**
|
* @brief Encode a set_actuator_control_target struct
|
*
|
* @param system_id ID of this system
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
* @param msg The MAVLink message to compress the data into
|
* @param set_actuator_control_target C-struct to read the message contents from
|
*/
|
static 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)
|
{
|
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);
|
}
|
|
/**
|
* @brief Encode a set_actuator_control_target struct on a channel
|
*
|
* @param system_id ID of this system
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
* @param chan The MAVLink channel this message will be sent over
|
* @param msg The MAVLink message to compress the data into
|
* @param set_actuator_control_target C-struct to read the message contents from
|
*/
|
static 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)
|
{
|
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);
|
}
|
|
/**
|
* @brief Send a set_actuator_control_target message
|
* @param chan MAVLink channel to send the message
|
*
|
* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
|
* @param 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.
|
* @param target_system System ID
|
* @param target_component Component ID
|
* @param controls 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.
|
*/
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
static 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)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
char buf[MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN];
|
_mav_put_uint64_t(buf, 0, time_usec);
|
_mav_put_uint8_t(buf, 40, group_mlx);
|
_mav_put_uint8_t(buf, 41, target_system);
|
_mav_put_uint8_t(buf, 42, target_component);
|
_mav_put_float_array(buf, 8, controls, 8);
|
_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);
|
#else
|
mavlink_set_actuator_control_target_t packet;
|
packet.time_usec = time_usec;
|
packet.group_mlx = group_mlx;
|
packet.target_system = target_system;
|
packet.target_component = target_component;
|
mav_array_memcpy(packet.controls, controls, sizeof(float)*8);
|
_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);
|
#endif
|
}
|
|
/**
|
* @brief Send a set_actuator_control_target message
|
* @param chan MAVLink channel to send the message
|
* @param struct The MAVLink struct to serialize
|
*/
|
static 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)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
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);
|
#else
|
_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);
|
#endif
|
}
|
|
#if MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
/*
|
This variant of _send() can be used to save stack space by re-using
|
memory from the receive buffer. The caller provides a
|
mavlink_message_t which is the size of a full mavlink message. This
|
is usually the receive buffer for the channel, and allows a reply to an
|
incoming message with minimum stack space usage.
|
*/
|
static 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)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
char *buf = (char *)msgbuf;
|
_mav_put_uint64_t(buf, 0, time_usec);
|
_mav_put_uint8_t(buf, 40, group_mlx);
|
_mav_put_uint8_t(buf, 41, target_system);
|
_mav_put_uint8_t(buf, 42, target_component);
|
_mav_put_float_array(buf, 8, controls, 8);
|
_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);
|
#else
|
mavlink_set_actuator_control_target_t *packet = (mavlink_set_actuator_control_target_t *)msgbuf;
|
packet->time_usec = time_usec;
|
packet->group_mlx = group_mlx;
|
packet->target_system = target_system;
|
packet->target_component = target_component;
|
mav_array_memcpy(packet->controls, controls, sizeof(float)*8);
|
_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);
|
#endif
|
}
|
#endif
|
|
#endif
|
|
// MESSAGE SET_ACTUATOR_CONTROL_TARGET UNPACKING
|
|
|
/**
|
* @brief Get field time_usec from set_actuator_control_target message
|
*
|
* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
|
*/
|
static inline uint64_t mavlink_msg_set_actuator_control_target_get_time_usec(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint64_t(msg, 0);
|
}
|
|
/**
|
* @brief Get field group_mlx from set_actuator_control_target message
|
*
|
* @return Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
|
*/
|
static inline uint8_t mavlink_msg_set_actuator_control_target_get_group_mlx(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint8_t(msg, 40);
|
}
|
|
/**
|
* @brief Get field target_system from set_actuator_control_target message
|
*
|
* @return System ID
|
*/
|
static inline uint8_t mavlink_msg_set_actuator_control_target_get_target_system(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint8_t(msg, 41);
|
}
|
|
/**
|
* @brief Get field target_component from set_actuator_control_target message
|
*
|
* @return Component ID
|
*/
|
static inline uint8_t mavlink_msg_set_actuator_control_target_get_target_component(const mavlink_message_t* msg)
|
{
|
return _MAV_RETURN_uint8_t(msg, 42);
|
}
|
|
/**
|
* @brief Get field controls from set_actuator_control_target message
|
*
|
* @return 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.
|
*/
|
static inline uint16_t mavlink_msg_set_actuator_control_target_get_controls(const mavlink_message_t* msg, float *controls)
|
{
|
return _MAV_RETURN_float_array(msg, controls, 8, 8);
|
}
|
|
/**
|
* @brief Decode a set_actuator_control_target message into a struct
|
*
|
* @param msg The message to decode
|
* @param set_actuator_control_target C-struct to decode the message contents into
|
*/
|
static inline void mavlink_msg_set_actuator_control_target_decode(const mavlink_message_t* msg, mavlink_set_actuator_control_target_t* set_actuator_control_target)
|
{
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
set_actuator_control_target->time_usec = mavlink_msg_set_actuator_control_target_get_time_usec(msg);
|
mavlink_msg_set_actuator_control_target_get_controls(msg, set_actuator_control_target->controls);
|
set_actuator_control_target->group_mlx = mavlink_msg_set_actuator_control_target_get_group_mlx(msg);
|
set_actuator_control_target->target_system = mavlink_msg_set_actuator_control_target_get_target_system(msg);
|
set_actuator_control_target->target_component = mavlink_msg_set_actuator_control_target_get_target_component(msg);
|
#else
|
uint8_t len = msg->len < MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN? msg->len : MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN;
|
memset(set_actuator_control_target, 0, MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET_LEN);
|
memcpy(set_actuator_control_target, _MAV_PAYLOAD(msg), len);
|
#endif
|
}
|
