mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-20 12:43:34 +08:00
Added rates setpoints as system outputs
This commit is contained in:
Lorenz Meier
File diff suppressed because one or more lines are too long
@@ -5,7 +5,7 @@
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#ifndef MAVLINK_VERSION_H
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#define MAVLINK_VERSION_H
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#define MAVLINK_BUILD_DATE "Thu Oct 18 13:36:48 2012"
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#define MAVLINK_BUILD_DATE "Mon Nov 26 18:29:46 2012"
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#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
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#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
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File diff suppressed because one or more lines are too long
@@ -0,0 +1,276 @@
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// MESSAGE MANUAL_SETPOINT PACKING
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#define MAVLINK_MSG_ID_MANUAL_SETPOINT 81
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typedef struct __mavlink_manual_setpoint_t
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{
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uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
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float roll; ///< Desired roll rate in radians per second
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float pitch; ///< Desired pitch rate in radians per second
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float yaw; ///< Desired yaw rate in radians per second
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float thrust; ///< Collective thrust, normalized to 0 .. 1
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uint8_t mode_switch; ///< Flight mode switch position, 0.. 255
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uint8_t manual_override_switch; ///< Override mode switch position, 0.. 255
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} mavlink_manual_setpoint_t;
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#define MAVLINK_MSG_ID_MANUAL_SETPOINT_LEN 22
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#define MAVLINK_MSG_ID_81_LEN 22
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#define MAVLINK_MESSAGE_INFO_MANUAL_SETPOINT { \
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"MANUAL_SETPOINT", \
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7, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_manual_setpoint_t, time_boot_ms) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_manual_setpoint_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_manual_setpoint_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_manual_setpoint_t, yaw) }, \
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{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_manual_setpoint_t, thrust) }, \
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{ "mode_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 20, offsetof(mavlink_manual_setpoint_t, mode_switch) }, \
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{ "manual_override_switch", NULL, MAVLINK_TYPE_UINT8_T, 0, 21, offsetof(mavlink_manual_setpoint_t, manual_override_switch) }, \
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} \
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}
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/**
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* @brief Pack a manual_setpoint 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 time_boot_ms Timestamp in milliseconds since system boot
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* @param roll Desired roll rate in radians per second
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* @param pitch Desired pitch rate in radians per second
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* @param yaw Desired yaw rate in radians per second
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* @param thrust Collective thrust, normalized to 0 .. 1
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* @param mode_switch Flight mode switch position, 0.. 255
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* @param manual_override_switch Override mode switch position, 0.. 255
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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_manual_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[22];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, thrust);
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_mav_put_uint8_t(buf, 20, mode_switch);
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_mav_put_uint8_t(buf, 21, manual_override_switch);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
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#else
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mavlink_manual_setpoint_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.thrust = thrust;
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packet.mode_switch = mode_switch;
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packet.manual_override_switch = manual_override_switch;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
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return mavlink_finalize_message(msg, system_id, component_id, 22, 106);
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}
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/**
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* @brief Pack a manual_setpoint 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 was sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_boot_ms Timestamp in milliseconds since system boot
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* @param roll Desired roll rate in radians per second
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* @param pitch Desired pitch rate in radians per second
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* @param yaw Desired yaw rate in radians per second
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* @param thrust Collective thrust, normalized to 0 .. 1
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* @param mode_switch Flight mode switch position, 0.. 255
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* @param manual_override_switch Override mode switch position, 0.. 255
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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_manual_setpoint_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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uint32_t time_boot_ms,float roll,float pitch,float yaw,float thrust,uint8_t mode_switch,uint8_t manual_override_switch)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[22];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, thrust);
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_mav_put_uint8_t(buf, 20, mode_switch);
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_mav_put_uint8_t(buf, 21, manual_override_switch);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
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#else
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mavlink_manual_setpoint_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.thrust = thrust;
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packet.mode_switch = mode_switch;
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packet.manual_override_switch = manual_override_switch;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MANUAL_SETPOINT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 106);
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}
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/**
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* @brief Encode a manual_setpoint struct into a message
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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 manual_setpoint C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_manual_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_setpoint_t* manual_setpoint)
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{
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return mavlink_msg_manual_setpoint_pack(system_id, component_id, msg, manual_setpoint->time_boot_ms, manual_setpoint->roll, manual_setpoint->pitch, manual_setpoint->yaw, manual_setpoint->thrust, manual_setpoint->mode_switch, manual_setpoint->manual_override_switch);
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}
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/**
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* @brief Send a manual_setpoint message
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* @param chan MAVLink channel to send the message
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*
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* @param time_boot_ms Timestamp in milliseconds since system boot
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* @param roll Desired roll rate in radians per second
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* @param pitch Desired pitch rate in radians per second
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* @param yaw Desired yaw rate in radians per second
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* @param thrust Collective thrust, normalized to 0 .. 1
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* @param mode_switch Flight mode switch position, 0.. 255
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* @param manual_override_switch Override mode switch position, 0.. 255
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_manual_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float thrust, uint8_t mode_switch, uint8_t manual_override_switch)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[22];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, thrust);
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_mav_put_uint8_t(buf, 20, mode_switch);
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_mav_put_uint8_t(buf, 21, manual_override_switch);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, buf, 22, 106);
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#else
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mavlink_manual_setpoint_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.thrust = thrust;
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packet.mode_switch = mode_switch;
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packet.manual_override_switch = manual_override_switch;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_SETPOINT, (const char *)&packet, 22, 106);
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#endif
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}
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#endif
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// MESSAGE MANUAL_SETPOINT UNPACKING
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/**
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* @brief Get field time_boot_ms from manual_setpoint message
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*
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* @return Timestamp in milliseconds since system boot
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*/
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static inline uint32_t mavlink_msg_manual_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field roll from manual_setpoint message
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*
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* @return Desired roll rate in radians per second
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*/
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static inline float mavlink_msg_manual_setpoint_get_roll(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field pitch from manual_setpoint message
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*
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* @return Desired pitch rate in radians per second
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*/
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static inline float mavlink_msg_manual_setpoint_get_pitch(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field yaw from manual_setpoint message
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*
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* @return Desired yaw rate in radians per second
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*/
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static inline float mavlink_msg_manual_setpoint_get_yaw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field thrust from manual_setpoint message
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*
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* @return Collective thrust, normalized to 0 .. 1
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*/
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static inline float mavlink_msg_manual_setpoint_get_thrust(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field mode_switch from manual_setpoint message
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*
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* @return Flight mode switch position, 0.. 255
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*/
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static inline uint8_t mavlink_msg_manual_setpoint_get_mode_switch(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 20);
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}
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/**
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* @brief Get field manual_override_switch from manual_setpoint message
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*
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* @return Override mode switch position, 0.. 255
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*/
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static inline uint8_t mavlink_msg_manual_setpoint_get_manual_override_switch(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 21);
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}
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/**
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* @brief Decode a manual_setpoint message into a struct
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*
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* @param msg The message to decode
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* @param manual_setpoint C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_manual_setpoint_decode(const mavlink_message_t* msg, mavlink_manual_setpoint_t* manual_setpoint)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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manual_setpoint->time_boot_ms = mavlink_msg_manual_setpoint_get_time_boot_ms(msg);
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manual_setpoint->roll = mavlink_msg_manual_setpoint_get_roll(msg);
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manual_setpoint->pitch = mavlink_msg_manual_setpoint_get_pitch(msg);
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manual_setpoint->yaw = mavlink_msg_manual_setpoint_get_yaw(msg);
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manual_setpoint->thrust = mavlink_msg_manual_setpoint_get_thrust(msg);
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manual_setpoint->mode_switch = mavlink_msg_manual_setpoint_get_mode_switch(msg);
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manual_setpoint->manual_override_switch = mavlink_msg_manual_setpoint_get_manual_override_switch(msg);
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#else
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memcpy(manual_setpoint, _MAV_PAYLOAD(msg), 22);
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#endif
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}
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+232
@@ -0,0 +1,232 @@
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// MESSAGE ROLL_PITCH_YAW_RATES_THRUST_SETPOINT PACKING
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#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT 80
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typedef struct __mavlink_roll_pitch_yaw_rates_thrust_setpoint_t
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{
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uint32_t time_boot_ms; ///< Timestamp in milliseconds since system boot
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float roll_rate; ///< Desired roll rate in radians per second
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float pitch_rate; ///< Desired pitch rate in radians per second
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float yaw_rate; ///< Desired yaw rate in radians per second
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float thrust; ///< Collective thrust, normalized to 0 .. 1
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} mavlink_roll_pitch_yaw_rates_thrust_setpoint_t;
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#define MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT_LEN 20
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#define MAVLINK_MSG_ID_80_LEN 20
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#define MAVLINK_MESSAGE_INFO_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT { \
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"ROLL_PITCH_YAW_RATES_THRUST_SETPOINT", \
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5, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, time_boot_ms) }, \
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{ "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, roll_rate) }, \
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{ "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, pitch_rate) }, \
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{ "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, yaw_rate) }, \
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{ "thrust", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_roll_pitch_yaw_rates_thrust_setpoint_t, thrust) }, \
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} \
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}
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/**
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* @brief Pack a roll_pitch_yaw_rates_thrust_setpoint 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 time_boot_ms Timestamp in milliseconds since system boot
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* @param roll_rate Desired roll rate in radians per second
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* @param pitch_rate Desired pitch rate in radians per second
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* @param yaw_rate Desired yaw rate in radians per second
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* @param thrust Collective thrust, normalized to 0 .. 1
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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_roll_pitch_yaw_rates_thrust_setpoint_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, float roll_rate, float pitch_rate, float yaw_rate, float thrust)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[20];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, roll_rate);
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_mav_put_float(buf, 8, pitch_rate);
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_mav_put_float(buf, 12, yaw_rate);
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_mav_put_float(buf, 16, thrust);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
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#else
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mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.roll_rate = roll_rate;
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packet.pitch_rate = pitch_rate;
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packet.yaw_rate = yaw_rate;
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packet.thrust = thrust;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT;
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return mavlink_finalize_message(msg, system_id, component_id, 20, 127);
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}
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/**
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* @brief Pack a roll_pitch_yaw_rates_thrust_setpoint message on a channel
|
||||
* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
|
||||
* @param chan The MAVLink channel this message was sent over
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||||
* @param msg The MAVLink message to compress the data into
|
||||
* @param time_boot_ms Timestamp in milliseconds since system boot
|
||||
* @param roll_rate Desired roll rate in radians per second
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||||
* @param pitch_rate Desired pitch rate in radians per second
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* @param yaw_rate Desired yaw rate in radians per second
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||||
* @param thrust Collective thrust, normalized to 0 .. 1
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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_roll_pitch_yaw_rates_thrust_setpoint_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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uint32_t time_boot_ms,float roll_rate,float pitch_rate,float yaw_rate,float thrust)
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||||
{
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||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[20];
|
||||
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||||
_mav_put_float(buf, 4, roll_rate);
|
||||
_mav_put_float(buf, 8, pitch_rate);
|
||||
_mav_put_float(buf, 12, yaw_rate);
|
||||
_mav_put_float(buf, 16, thrust);
|
||||
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
|
||||
#else
|
||||
mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet;
|
||||
packet.time_boot_ms = time_boot_ms;
|
||||
packet.roll_rate = roll_rate;
|
||||
packet.pitch_rate = pitch_rate;
|
||||
packet.yaw_rate = yaw_rate;
|
||||
packet.thrust = thrust;
|
||||
|
||||
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
|
||||
#endif
|
||||
|
||||
msg->msgid = MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT;
|
||||
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20, 127);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Encode a roll_pitch_yaw_rates_thrust_setpoint struct into a 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 roll_pitch_yaw_rates_thrust_setpoint C-struct to read the message contents from
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_roll_pitch_yaw_rates_thrust_setpoint_t* roll_pitch_yaw_rates_thrust_setpoint)
|
||||
{
|
||||
return mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack(system_id, component_id, msg, roll_pitch_yaw_rates_thrust_setpoint->time_boot_ms, roll_pitch_yaw_rates_thrust_setpoint->roll_rate, roll_pitch_yaw_rates_thrust_setpoint->pitch_rate, roll_pitch_yaw_rates_thrust_setpoint->yaw_rate, roll_pitch_yaw_rates_thrust_setpoint->thrust);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a roll_pitch_yaw_rates_thrust_setpoint message
|
||||
* @param chan MAVLink channel to send the message
|
||||
*
|
||||
* @param time_boot_ms Timestamp in milliseconds since system boot
|
||||
* @param roll_rate Desired roll rate in radians per second
|
||||
* @param pitch_rate Desired pitch rate in radians per second
|
||||
* @param yaw_rate Desired yaw rate in radians per second
|
||||
* @param thrust Collective thrust, normalized to 0 .. 1
|
||||
*/
|
||||
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||||
|
||||
static inline void mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll_rate, float pitch_rate, float yaw_rate, float thrust)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char buf[20];
|
||||
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||||
_mav_put_float(buf, 4, roll_rate);
|
||||
_mav_put_float(buf, 8, pitch_rate);
|
||||
_mav_put_float(buf, 12, yaw_rate);
|
||||
_mav_put_float(buf, 16, thrust);
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, buf, 20, 127);
|
||||
#else
|
||||
mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet;
|
||||
packet.time_boot_ms = time_boot_ms;
|
||||
packet.roll_rate = roll_rate;
|
||||
packet.pitch_rate = pitch_rate;
|
||||
packet.yaw_rate = yaw_rate;
|
||||
packet.thrust = thrust;
|
||||
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ROLL_PITCH_YAW_RATES_THRUST_SETPOINT, (const char *)&packet, 20, 127);
|
||||
#endif
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE ROLL_PITCH_YAW_RATES_THRUST_SETPOINT UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field time_boot_ms from roll_pitch_yaw_rates_thrust_setpoint message
|
||||
*
|
||||
* @return Timestamp in milliseconds since system boot
|
||||
*/
|
||||
static inline uint32_t mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_time_boot_ms(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint32_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field roll_rate from roll_pitch_yaw_rates_thrust_setpoint message
|
||||
*
|
||||
* @return Desired roll rate in radians per second
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_roll_rate(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 4);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitch_rate from roll_pitch_yaw_rates_thrust_setpoint message
|
||||
*
|
||||
* @return Desired pitch rate in radians per second
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_pitch_rate(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yaw_rate from roll_pitch_yaw_rates_thrust_setpoint message
|
||||
*
|
||||
* @return Desired yaw rate in radians per second
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_yaw_rate(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field thrust from roll_pitch_yaw_rates_thrust_setpoint message
|
||||
*
|
||||
* @return Collective thrust, normalized to 0 .. 1
|
||||
*/
|
||||
static inline float mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_thrust(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a roll_pitch_yaw_rates_thrust_setpoint message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param roll_pitch_yaw_rates_thrust_setpoint C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(const mavlink_message_t* msg, mavlink_roll_pitch_yaw_rates_thrust_setpoint_t* roll_pitch_yaw_rates_thrust_setpoint)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP
|
||||
roll_pitch_yaw_rates_thrust_setpoint->time_boot_ms = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_time_boot_ms(msg);
|
||||
roll_pitch_yaw_rates_thrust_setpoint->roll_rate = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_roll_rate(msg);
|
||||
roll_pitch_yaw_rates_thrust_setpoint->pitch_rate = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_pitch_rate(msg);
|
||||
roll_pitch_yaw_rates_thrust_setpoint->yaw_rate = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_yaw_rate(msg);
|
||||
roll_pitch_yaw_rates_thrust_setpoint->thrust = mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_get_thrust(msg);
|
||||
#else
|
||||
memcpy(roll_pitch_yaw_rates_thrust_setpoint, _MAV_PAYLOAD(msg), 20);
|
||||
#endif
|
||||
}
|
||||
@@ -3178,6 +3178,112 @@ static void mavlink_test_command_ack(uint8_t system_id, uint8_t component_id, ma
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_roll_pitch_yaw_rates_thrust_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet_in = {
|
||||
963497464,
|
||||
45.0,
|
||||
73.0,
|
||||
101.0,
|
||||
129.0,
|
||||
};
|
||||
mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.time_boot_ms = packet_in.time_boot_ms;
|
||||
packet1.roll_rate = packet_in.roll_rate;
|
||||
packet1.pitch_rate = packet_in.pitch_rate;
|
||||
packet1.yaw_rate = packet_in.yaw_rate;
|
||||
packet1.thrust = packet_in.thrust;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust );
|
||||
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust );
|
||||
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust );
|
||||
mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_manual_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
||||
uint16_t i;
|
||||
mavlink_manual_setpoint_t packet_in = {
|
||||
963497464,
|
||||
45.0,
|
||||
73.0,
|
||||
101.0,
|
||||
129.0,
|
||||
65,
|
||||
132,
|
||||
};
|
||||
mavlink_manual_setpoint_t packet1, packet2;
|
||||
memset(&packet1, 0, sizeof(packet1));
|
||||
packet1.time_boot_ms = packet_in.time_boot_ms;
|
||||
packet1.roll = packet_in.roll;
|
||||
packet1.pitch = packet_in.pitch;
|
||||
packet1.yaw = packet_in.yaw;
|
||||
packet1.thrust = packet_in.thrust;
|
||||
packet1.mode_switch = packet_in.mode_switch;
|
||||
packet1.manual_override_switch = packet_in.manual_override_switch;
|
||||
|
||||
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_manual_setpoint_encode(system_id, component_id, &msg, &packet1);
|
||||
mavlink_msg_manual_setpoint_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_manual_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
|
||||
mavlink_msg_manual_setpoint_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_manual_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
|
||||
mavlink_msg_manual_setpoint_decode(&msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_to_send_buffer(buffer, &msg);
|
||||
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
||||
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
||||
}
|
||||
mavlink_msg_manual_setpoint_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
|
||||
memset(&packet2, 0, sizeof(packet2));
|
||||
mavlink_msg_manual_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
|
||||
mavlink_msg_manual_setpoint_decode(last_msg, &packet2);
|
||||
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
||||
}
|
||||
|
||||
static void mavlink_test_local_position_ned_system_global_offset(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
||||
{
|
||||
mavlink_message_t msg;
|
||||
@@ -4301,6 +4407,8 @@ static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink
|
||||
mavlink_test_vfr_hud(system_id, component_id, last_msg);
|
||||
mavlink_test_command_long(system_id, component_id, last_msg);
|
||||
mavlink_test_command_ack(system_id, component_id, last_msg);
|
||||
mavlink_test_roll_pitch_yaw_rates_thrust_setpoint(system_id, component_id, last_msg);
|
||||
mavlink_test_manual_setpoint(system_id, component_id, last_msg);
|
||||
mavlink_test_local_position_ned_system_global_offset(system_id, component_id, last_msg);
|
||||
mavlink_test_hil_state(system_id, component_id, last_msg);
|
||||
mavlink_test_hil_controls(system_id, component_id, last_msg);
|
||||
|
||||
@@ -5,7 +5,7 @@
|
||||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Thu Oct 18 13:37:22 2012"
|
||||
#define MAVLINK_BUILD_DATE "Mon Nov 26 18:30:26 2012"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
|
||||
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -5,7 +5,7 @@
|
||||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Thu Oct 18 13:37:22 2012"
|
||||
#define MAVLINK_BUILD_DATE "Mon Nov 26 18:30:03 2012"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
|
||||
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -5,7 +5,7 @@
|
||||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Thu Oct 18 13:37:02 2012"
|
||||
#define MAVLINK_BUILD_DATE "Mon Nov 26 18:30:17 2012"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
|
||||
|
||||
|
||||
File diff suppressed because one or more lines are too long
@@ -5,7 +5,7 @@
|
||||
#ifndef MAVLINK_VERSION_H
|
||||
#define MAVLINK_VERSION_H
|
||||
|
||||
#define MAVLINK_BUILD_DATE "Thu Oct 18 13:37:13 2012"
|
||||
#define MAVLINK_BUILD_DATE "Mon Nov 26 18:30:26 2012"
|
||||
#define MAVLINK_WIRE_PROTOCOL_VERSION "1.0"
|
||||
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 101
|
||||
|
||||
|
||||
Reference in New Issue
Block a user