#pragma once // MESSAGE ADAP_TUNING PACKING #define MAVLINK_MSG_ID_ADAP_TUNING 11010 typedef struct __mavlink_adap_tuning_t { float desired; /*< [deg/s] Desired rate.*/ float achieved; /*< [deg/s] Achieved rate.*/ float error; /*< Error between model and vehicle.*/ float theta; /*< Theta estimated state predictor.*/ float omega; /*< Omega estimated state predictor.*/ float sigma; /*< Sigma estimated state predictor.*/ float theta_dot; /*< Theta derivative.*/ float omega_dot; /*< Omega derivative.*/ float sigma_dot; /*< Sigma derivative.*/ float f; /*< Projection operator value.*/ float f_dot; /*< Projection operator derivative.*/ float u; /*< u adaptive controlled output command.*/ uint8_t axis; /*< Axis.*/ } mavlink_adap_tuning_t; #define MAVLINK_MSG_ID_ADAP_TUNING_LEN 49 #define MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN 49 #define MAVLINK_MSG_ID_11010_LEN 49 #define MAVLINK_MSG_ID_11010_MIN_LEN 49 #define MAVLINK_MSG_ID_ADAP_TUNING_CRC 46 #define MAVLINK_MSG_ID_11010_CRC 46 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_ADAP_TUNING { \ 11010, \ "ADAP_TUNING", \ 13, \ { { "axis", NULL, MAVLINK_TYPE_UINT8_T, 0, 48, offsetof(mavlink_adap_tuning_t, axis) }, \ { "desired", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_adap_tuning_t, desired) }, \ { "achieved", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_adap_tuning_t, achieved) }, \ { "error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_adap_tuning_t, error) }, \ { "theta", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_adap_tuning_t, theta) }, \ { "omega", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_adap_tuning_t, omega) }, \ { "sigma", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_adap_tuning_t, sigma) }, \ { "theta_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_adap_tuning_t, theta_dot) }, \ { "omega_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_adap_tuning_t, omega_dot) }, \ { "sigma_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_adap_tuning_t, sigma_dot) }, \ { "f", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_adap_tuning_t, f) }, \ { "f_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_adap_tuning_t, f_dot) }, \ { "u", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_adap_tuning_t, u) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_ADAP_TUNING { \ "ADAP_TUNING", \ 13, \ { { "axis", NULL, MAVLINK_TYPE_UINT8_T, 0, 48, offsetof(mavlink_adap_tuning_t, axis) }, \ { "desired", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_adap_tuning_t, desired) }, \ { "achieved", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_adap_tuning_t, achieved) }, \ { "error", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_adap_tuning_t, error) }, \ { "theta", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_adap_tuning_t, theta) }, \ { "omega", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_adap_tuning_t, omega) }, \ { "sigma", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_adap_tuning_t, sigma) }, \ { "theta_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_adap_tuning_t, theta_dot) }, \ { "omega_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_adap_tuning_t, omega_dot) }, \ { "sigma_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_adap_tuning_t, sigma_dot) }, \ { "f", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_adap_tuning_t, f) }, \ { "f_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_adap_tuning_t, f_dot) }, \ { "u", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_adap_tuning_t, u) }, \ } \ } #endif /** * @brief Pack a adap_tuning 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 axis Axis. * @param desired [deg/s] Desired rate. * @param achieved [deg/s] Achieved rate. * @param error Error between model and vehicle. * @param theta Theta estimated state predictor. * @param omega Omega estimated state predictor. * @param sigma Sigma estimated state predictor. * @param theta_dot Theta derivative. * @param omega_dot Omega derivative. * @param sigma_dot Sigma derivative. * @param f Projection operator value. * @param f_dot Projection operator derivative. * @param u u adaptive controlled output command. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_adap_tuning_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t axis, float desired, float achieved, float error, float theta, float omega, float sigma, float theta_dot, float omega_dot, float sigma_dot, float f, float f_dot, float u) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_ADAP_TUNING_LEN]; _mav_put_float(buf, 0, desired); _mav_put_float(buf, 4, achieved); _mav_put_float(buf, 8, error); _mav_put_float(buf, 12, theta); _mav_put_float(buf, 16, omega); _mav_put_float(buf, 20, sigma); _mav_put_float(buf, 24, theta_dot); _mav_put_float(buf, 28, omega_dot); _mav_put_float(buf, 32, sigma_dot); _mav_put_float(buf, 36, f); _mav_put_float(buf, 40, f_dot); _mav_put_float(buf, 44, u); _mav_put_uint8_t(buf, 48, axis); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ADAP_TUNING_LEN); #else mavlink_adap_tuning_t packet; packet.desired = desired; packet.achieved = achieved; packet.error = error; packet.theta = theta; packet.omega = omega; packet.sigma = sigma; packet.theta_dot = theta_dot; packet.omega_dot = omega_dot; packet.sigma_dot = sigma_dot; packet.f = f; packet.f_dot = f_dot; packet.u = u; packet.axis = axis; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ADAP_TUNING_LEN); #endif msg->msgid = MAVLINK_MSG_ID_ADAP_TUNING; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC); } /** * @brief Pack a adap_tuning 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 axis Axis. * @param desired [deg/s] Desired rate. * @param achieved [deg/s] Achieved rate. * @param error Error between model and vehicle. * @param theta Theta estimated state predictor. * @param omega Omega estimated state predictor. * @param sigma Sigma estimated state predictor. * @param theta_dot Theta derivative. * @param omega_dot Omega derivative. * @param sigma_dot Sigma derivative. * @param f Projection operator value. * @param f_dot Projection operator derivative. * @param u u adaptive controlled output command. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_adap_tuning_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t axis,float desired,float achieved,float error,float theta,float omega,float sigma,float theta_dot,float omega_dot,float sigma_dot,float f,float f_dot,float u) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_ADAP_TUNING_LEN]; _mav_put_float(buf, 0, desired); _mav_put_float(buf, 4, achieved); _mav_put_float(buf, 8, error); _mav_put_float(buf, 12, theta); _mav_put_float(buf, 16, omega); _mav_put_float(buf, 20, sigma); _mav_put_float(buf, 24, theta_dot); _mav_put_float(buf, 28, omega_dot); _mav_put_float(buf, 32, sigma_dot); _mav_put_float(buf, 36, f); _mav_put_float(buf, 40, f_dot); _mav_put_float(buf, 44, u); _mav_put_uint8_t(buf, 48, axis); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ADAP_TUNING_LEN); #else mavlink_adap_tuning_t packet; packet.desired = desired; packet.achieved = achieved; packet.error = error; packet.theta = theta; packet.omega = omega; packet.sigma = sigma; packet.theta_dot = theta_dot; packet.omega_dot = omega_dot; packet.sigma_dot = sigma_dot; packet.f = f; packet.f_dot = f_dot; packet.u = u; packet.axis = axis; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ADAP_TUNING_LEN); #endif msg->msgid = MAVLINK_MSG_ID_ADAP_TUNING; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC); } /** * @brief Encode a adap_tuning 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 adap_tuning C-struct to read the message contents from */ static inline uint16_t mavlink_msg_adap_tuning_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_adap_tuning_t* adap_tuning) { return mavlink_msg_adap_tuning_pack(system_id, component_id, msg, adap_tuning->axis, adap_tuning->desired, adap_tuning->achieved, adap_tuning->error, adap_tuning->theta, adap_tuning->omega, adap_tuning->sigma, adap_tuning->theta_dot, adap_tuning->omega_dot, adap_tuning->sigma_dot, adap_tuning->f, adap_tuning->f_dot, adap_tuning->u); } /** * @brief Encode a adap_tuning 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 adap_tuning C-struct to read the message contents from */ static inline uint16_t mavlink_msg_adap_tuning_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_adap_tuning_t* adap_tuning) { return mavlink_msg_adap_tuning_pack_chan(system_id, component_id, chan, msg, adap_tuning->axis, adap_tuning->desired, adap_tuning->achieved, adap_tuning->error, adap_tuning->theta, adap_tuning->omega, adap_tuning->sigma, adap_tuning->theta_dot, adap_tuning->omega_dot, adap_tuning->sigma_dot, adap_tuning->f, adap_tuning->f_dot, adap_tuning->u); } /** * @brief Send a adap_tuning message * @param chan MAVLink channel to send the message * * @param axis Axis. * @param desired [deg/s] Desired rate. * @param achieved [deg/s] Achieved rate. * @param error Error between model and vehicle. * @param theta Theta estimated state predictor. * @param omega Omega estimated state predictor. * @param sigma Sigma estimated state predictor. * @param theta_dot Theta derivative. * @param omega_dot Omega derivative. * @param sigma_dot Sigma derivative. * @param f Projection operator value. * @param f_dot Projection operator derivative. * @param u u adaptive controlled output command. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_adap_tuning_send(mavlink_channel_t chan, uint8_t axis, float desired, float achieved, float error, float theta, float omega, float sigma, float theta_dot, float omega_dot, float sigma_dot, float f, float f_dot, float u) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_ADAP_TUNING_LEN]; _mav_put_float(buf, 0, desired); _mav_put_float(buf, 4, achieved); _mav_put_float(buf, 8, error); _mav_put_float(buf, 12, theta); _mav_put_float(buf, 16, omega); _mav_put_float(buf, 20, sigma); _mav_put_float(buf, 24, theta_dot); _mav_put_float(buf, 28, omega_dot); _mav_put_float(buf, 32, sigma_dot); _mav_put_float(buf, 36, f); _mav_put_float(buf, 40, f_dot); _mav_put_float(buf, 44, u); _mav_put_uint8_t(buf, 48, axis); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ADAP_TUNING, buf, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC); #else mavlink_adap_tuning_t packet; packet.desired = desired; packet.achieved = achieved; packet.error = error; packet.theta = theta; packet.omega = omega; packet.sigma = sigma; packet.theta_dot = theta_dot; packet.omega_dot = omega_dot; packet.sigma_dot = sigma_dot; packet.f = f; packet.f_dot = f_dot; packet.u = u; packet.axis = axis; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ADAP_TUNING, (const char *)&packet, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC); #endif } /** * @brief Send a adap_tuning message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_adap_tuning_send_struct(mavlink_channel_t chan, const mavlink_adap_tuning_t* adap_tuning) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_adap_tuning_send(chan, adap_tuning->axis, adap_tuning->desired, adap_tuning->achieved, adap_tuning->error, adap_tuning->theta, adap_tuning->omega, adap_tuning->sigma, adap_tuning->theta_dot, adap_tuning->omega_dot, adap_tuning->sigma_dot, adap_tuning->f, adap_tuning->f_dot, adap_tuning->u); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ADAP_TUNING, (const char *)adap_tuning, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC); #endif } #if MAVLINK_MSG_ID_ADAP_TUNING_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_adap_tuning_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t axis, float desired, float achieved, float error, float theta, float omega, float sigma, float theta_dot, float omega_dot, float sigma_dot, float f, float f_dot, float u) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_float(buf, 0, desired); _mav_put_float(buf, 4, achieved); _mav_put_float(buf, 8, error); _mav_put_float(buf, 12, theta); _mav_put_float(buf, 16, omega); _mav_put_float(buf, 20, sigma); _mav_put_float(buf, 24, theta_dot); _mav_put_float(buf, 28, omega_dot); _mav_put_float(buf, 32, sigma_dot); _mav_put_float(buf, 36, f); _mav_put_float(buf, 40, f_dot); _mav_put_float(buf, 44, u); _mav_put_uint8_t(buf, 48, axis); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ADAP_TUNING, buf, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC); #else mavlink_adap_tuning_t *packet = (mavlink_adap_tuning_t *)msgbuf; packet->desired = desired; packet->achieved = achieved; packet->error = error; packet->theta = theta; packet->omega = omega; packet->sigma = sigma; packet->theta_dot = theta_dot; packet->omega_dot = omega_dot; packet->sigma_dot = sigma_dot; packet->f = f; packet->f_dot = f_dot; packet->u = u; packet->axis = axis; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ADAP_TUNING, (const char *)packet, MAVLINK_MSG_ID_ADAP_TUNING_MIN_LEN, MAVLINK_MSG_ID_ADAP_TUNING_LEN, MAVLINK_MSG_ID_ADAP_TUNING_CRC); #endif } #endif #endif // MESSAGE ADAP_TUNING UNPACKING /** * @brief Get field axis from adap_tuning message * * @return Axis. */ static inline uint8_t mavlink_msg_adap_tuning_get_axis(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 48); } /** * @brief Get field desired from adap_tuning message * * @return [deg/s] Desired rate. */ static inline float mavlink_msg_adap_tuning_get_desired(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 0); } /** * @brief Get field achieved from adap_tuning message * * @return [deg/s] Achieved rate. */ static inline float mavlink_msg_adap_tuning_get_achieved(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field error from adap_tuning message * * @return Error between model and vehicle. */ static inline float mavlink_msg_adap_tuning_get_error(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field theta from adap_tuning message * * @return Theta estimated state predictor. */ static inline float mavlink_msg_adap_tuning_get_theta(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field omega from adap_tuning message * * @return Omega estimated state predictor. */ static inline float mavlink_msg_adap_tuning_get_omega(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field sigma from adap_tuning message * * @return Sigma estimated state predictor. */ static inline float mavlink_msg_adap_tuning_get_sigma(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field theta_dot from adap_tuning message * * @return Theta derivative. */ static inline float mavlink_msg_adap_tuning_get_theta_dot(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field omega_dot from adap_tuning message * * @return Omega derivative. */ static inline float mavlink_msg_adap_tuning_get_omega_dot(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field sigma_dot from adap_tuning message * * @return Sigma derivative. */ static inline float mavlink_msg_adap_tuning_get_sigma_dot(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Get field f from adap_tuning message * * @return Projection operator value. */ static inline float mavlink_msg_adap_tuning_get_f(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 36); } /** * @brief Get field f_dot from adap_tuning message * * @return Projection operator derivative. */ static inline float mavlink_msg_adap_tuning_get_f_dot(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 40); } /** * @brief Get field u from adap_tuning message * * @return u adaptive controlled output command. */ static inline float mavlink_msg_adap_tuning_get_u(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 44); } /** * @brief Decode a adap_tuning message into a struct * * @param msg The message to decode * @param adap_tuning C-struct to decode the message contents into */ static inline void mavlink_msg_adap_tuning_decode(const mavlink_message_t* msg, mavlink_adap_tuning_t* adap_tuning) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS adap_tuning->desired = mavlink_msg_adap_tuning_get_desired(msg); adap_tuning->achieved = mavlink_msg_adap_tuning_get_achieved(msg); adap_tuning->error = mavlink_msg_adap_tuning_get_error(msg); adap_tuning->theta = mavlink_msg_adap_tuning_get_theta(msg); adap_tuning->omega = mavlink_msg_adap_tuning_get_omega(msg); adap_tuning->sigma = mavlink_msg_adap_tuning_get_sigma(msg); adap_tuning->theta_dot = mavlink_msg_adap_tuning_get_theta_dot(msg); adap_tuning->omega_dot = mavlink_msg_adap_tuning_get_omega_dot(msg); adap_tuning->sigma_dot = mavlink_msg_adap_tuning_get_sigma_dot(msg); adap_tuning->f = mavlink_msg_adap_tuning_get_f(msg); adap_tuning->f_dot = mavlink_msg_adap_tuning_get_f_dot(msg); adap_tuning->u = mavlink_msg_adap_tuning_get_u(msg); adap_tuning->axis = mavlink_msg_adap_tuning_get_axis(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_ADAP_TUNING_LEN? msg->len : MAVLINK_MSG_ID_ADAP_TUNING_LEN; memset(adap_tuning, 0, MAVLINK_MSG_ID_ADAP_TUNING_LEN); memcpy(adap_tuning, _MAV_PAYLOAD(msg), len); #endif }