mirror of https://github.com/OpenIPC/firmware.git
789 lines
36 KiB
C
789 lines
36 KiB
C
#pragma once
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// MESSAGE HIGH_LATENCY PACKING
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#define MAVLINK_MSG_ID_HIGH_LATENCY 234
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typedef struct __mavlink_high_latency_t {
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uint32_t custom_mode; /*< A bitfield for use for autopilot-specific flags.*/
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int32_t latitude; /*< [degE7] Latitude*/
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int32_t longitude; /*< [degE7] Longitude*/
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int16_t roll; /*< [cdeg] roll*/
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int16_t pitch; /*< [cdeg] pitch*/
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uint16_t heading; /*< [cdeg] heading*/
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int16_t heading_sp; /*< [cdeg] heading setpoint*/
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int16_t altitude_amsl; /*< [m] Altitude above mean sea level*/
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int16_t altitude_sp; /*< [m] Altitude setpoint relative to the home position*/
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uint16_t wp_distance; /*< [m] distance to target*/
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uint8_t base_mode; /*< Bitmap of enabled system modes.*/
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uint8_t landed_state; /*< The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.*/
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int8_t throttle; /*< [%] throttle (percentage)*/
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uint8_t airspeed; /*< [m/s] airspeed*/
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uint8_t airspeed_sp; /*< [m/s] airspeed setpoint*/
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uint8_t groundspeed; /*< [m/s] groundspeed*/
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int8_t climb_rate; /*< [m/s] climb rate*/
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uint8_t gps_nsat; /*< Number of satellites visible. If unknown, set to UINT8_MAX*/
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uint8_t gps_fix_type; /*< GPS Fix type.*/
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uint8_t battery_remaining; /*< [%] Remaining battery (percentage)*/
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int8_t temperature; /*< [degC] Autopilot temperature (degrees C)*/
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int8_t temperature_air; /*< [degC] Air temperature (degrees C) from airspeed sensor*/
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uint8_t failsafe; /*< failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)*/
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uint8_t wp_num; /*< current waypoint number*/
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} mavlink_high_latency_t;
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#define MAVLINK_MSG_ID_HIGH_LATENCY_LEN 40
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#define MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN 40
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#define MAVLINK_MSG_ID_234_LEN 40
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#define MAVLINK_MSG_ID_234_MIN_LEN 40
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#define MAVLINK_MSG_ID_HIGH_LATENCY_CRC 150
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#define MAVLINK_MSG_ID_234_CRC 150
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_HIGH_LATENCY { \
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234, \
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"HIGH_LATENCY", \
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24, \
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{ { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_high_latency_t, base_mode) }, \
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{ "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_high_latency_t, custom_mode) }, \
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{ "landed_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_high_latency_t, landed_state) }, \
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{ "roll", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_high_latency_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_high_latency_t, pitch) }, \
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{ "heading", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_high_latency_t, heading) }, \
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{ "throttle", NULL, MAVLINK_TYPE_INT8_T, 0, 28, offsetof(mavlink_high_latency_t, throttle) }, \
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{ "heading_sp", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_high_latency_t, heading_sp) }, \
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{ "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_high_latency_t, latitude) }, \
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{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_high_latency_t, longitude) }, \
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{ "altitude_amsl", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_high_latency_t, altitude_amsl) }, \
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{ "altitude_sp", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_high_latency_t, altitude_sp) }, \
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{ "airspeed", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_high_latency_t, airspeed) }, \
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{ "airspeed_sp", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_high_latency_t, airspeed_sp) }, \
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{ "groundspeed", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_high_latency_t, groundspeed) }, \
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{ "climb_rate", NULL, MAVLINK_TYPE_INT8_T, 0, 32, offsetof(mavlink_high_latency_t, climb_rate) }, \
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{ "gps_nsat", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_high_latency_t, gps_nsat) }, \
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{ "gps_fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_high_latency_t, gps_fix_type) }, \
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{ "battery_remaining", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_high_latency_t, battery_remaining) }, \
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{ "temperature", NULL, MAVLINK_TYPE_INT8_T, 0, 36, offsetof(mavlink_high_latency_t, temperature) }, \
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{ "temperature_air", NULL, MAVLINK_TYPE_INT8_T, 0, 37, offsetof(mavlink_high_latency_t, temperature_air) }, \
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{ "failsafe", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_high_latency_t, failsafe) }, \
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{ "wp_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_high_latency_t, wp_num) }, \
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{ "wp_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_high_latency_t, wp_distance) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_HIGH_LATENCY { \
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"HIGH_LATENCY", \
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24, \
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{ { "base_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_high_latency_t, base_mode) }, \
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{ "custom_mode", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_high_latency_t, custom_mode) }, \
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{ "landed_state", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_high_latency_t, landed_state) }, \
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{ "roll", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_high_latency_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_high_latency_t, pitch) }, \
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{ "heading", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_high_latency_t, heading) }, \
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{ "throttle", NULL, MAVLINK_TYPE_INT8_T, 0, 28, offsetof(mavlink_high_latency_t, throttle) }, \
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{ "heading_sp", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_high_latency_t, heading_sp) }, \
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{ "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_high_latency_t, latitude) }, \
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{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_high_latency_t, longitude) }, \
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{ "altitude_amsl", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_high_latency_t, altitude_amsl) }, \
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{ "altitude_sp", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_high_latency_t, altitude_sp) }, \
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{ "airspeed", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_high_latency_t, airspeed) }, \
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{ "airspeed_sp", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_high_latency_t, airspeed_sp) }, \
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{ "groundspeed", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_high_latency_t, groundspeed) }, \
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{ "climb_rate", NULL, MAVLINK_TYPE_INT8_T, 0, 32, offsetof(mavlink_high_latency_t, climb_rate) }, \
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{ "gps_nsat", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_high_latency_t, gps_nsat) }, \
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{ "gps_fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_high_latency_t, gps_fix_type) }, \
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{ "battery_remaining", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_high_latency_t, battery_remaining) }, \
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{ "temperature", NULL, MAVLINK_TYPE_INT8_T, 0, 36, offsetof(mavlink_high_latency_t, temperature) }, \
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{ "temperature_air", NULL, MAVLINK_TYPE_INT8_T, 0, 37, offsetof(mavlink_high_latency_t, temperature_air) }, \
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{ "failsafe", NULL, MAVLINK_TYPE_UINT8_T, 0, 38, offsetof(mavlink_high_latency_t, failsafe) }, \
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{ "wp_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_high_latency_t, wp_num) }, \
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{ "wp_distance", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_high_latency_t, wp_distance) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a high_latency 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 base_mode Bitmap of enabled system modes.
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* @param custom_mode A bitfield for use for autopilot-specific flags.
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* @param landed_state The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
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* @param roll [cdeg] roll
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* @param pitch [cdeg] pitch
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* @param heading [cdeg] heading
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* @param throttle [%] throttle (percentage)
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* @param heading_sp [cdeg] heading setpoint
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* @param latitude [degE7] Latitude
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* @param longitude [degE7] Longitude
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* @param altitude_amsl [m] Altitude above mean sea level
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* @param altitude_sp [m] Altitude setpoint relative to the home position
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* @param airspeed [m/s] airspeed
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* @param airspeed_sp [m/s] airspeed setpoint
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* @param groundspeed [m/s] groundspeed
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* @param climb_rate [m/s] climb rate
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* @param gps_nsat Number of satellites visible. If unknown, set to UINT8_MAX
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* @param gps_fix_type GPS Fix type.
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* @param battery_remaining [%] Remaining battery (percentage)
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* @param temperature [degC] Autopilot temperature (degrees C)
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* @param temperature_air [degC] Air temperature (degrees C) from airspeed sensor
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* @param failsafe failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
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* @param wp_num current waypoint number
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* @param wp_distance [m] distance to target
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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_high_latency_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t base_mode, uint32_t custom_mode, uint8_t landed_state, int16_t roll, int16_t pitch, uint16_t heading, int8_t throttle, int16_t heading_sp, int32_t latitude, int32_t longitude, int16_t altitude_amsl, int16_t altitude_sp, uint8_t airspeed, uint8_t airspeed_sp, uint8_t groundspeed, int8_t climb_rate, uint8_t gps_nsat, uint8_t gps_fix_type, uint8_t battery_remaining, int8_t temperature, int8_t temperature_air, uint8_t failsafe, uint8_t wp_num, uint16_t wp_distance)
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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_HIGH_LATENCY_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_int32_t(buf, 4, latitude);
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_mav_put_int32_t(buf, 8, longitude);
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_mav_put_int16_t(buf, 12, roll);
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_mav_put_int16_t(buf, 14, pitch);
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_mav_put_uint16_t(buf, 16, heading);
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_mav_put_int16_t(buf, 18, heading_sp);
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_mav_put_int16_t(buf, 20, altitude_amsl);
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_mav_put_int16_t(buf, 22, altitude_sp);
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_mav_put_uint16_t(buf, 24, wp_distance);
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_mav_put_uint8_t(buf, 26, base_mode);
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_mav_put_uint8_t(buf, 27, landed_state);
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_mav_put_int8_t(buf, 28, throttle);
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_mav_put_uint8_t(buf, 29, airspeed);
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_mav_put_uint8_t(buf, 30, airspeed_sp);
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_mav_put_uint8_t(buf, 31, groundspeed);
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_mav_put_int8_t(buf, 32, climb_rate);
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_mav_put_uint8_t(buf, 33, gps_nsat);
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_mav_put_uint8_t(buf, 34, gps_fix_type);
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_mav_put_uint8_t(buf, 35, battery_remaining);
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_mav_put_int8_t(buf, 36, temperature);
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_mav_put_int8_t(buf, 37, temperature_air);
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_mav_put_uint8_t(buf, 38, failsafe);
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_mav_put_uint8_t(buf, 39, wp_num);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGH_LATENCY_LEN);
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#else
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mavlink_high_latency_t packet;
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packet.custom_mode = custom_mode;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.heading = heading;
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packet.heading_sp = heading_sp;
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packet.altitude_amsl = altitude_amsl;
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packet.altitude_sp = altitude_sp;
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packet.wp_distance = wp_distance;
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packet.base_mode = base_mode;
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packet.landed_state = landed_state;
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packet.throttle = throttle;
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packet.airspeed = airspeed;
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packet.airspeed_sp = airspeed_sp;
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packet.groundspeed = groundspeed;
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packet.climb_rate = climb_rate;
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packet.gps_nsat = gps_nsat;
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packet.gps_fix_type = gps_fix_type;
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packet.battery_remaining = battery_remaining;
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packet.temperature = temperature;
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packet.temperature_air = temperature_air;
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packet.failsafe = failsafe;
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packet.wp_num = wp_num;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGH_LATENCY_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIGH_LATENCY;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC);
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}
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/**
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* @brief Pack a high_latency 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 base_mode Bitmap of enabled system modes.
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* @param custom_mode A bitfield for use for autopilot-specific flags.
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* @param landed_state The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
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* @param roll [cdeg] roll
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* @param pitch [cdeg] pitch
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* @param heading [cdeg] heading
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* @param throttle [%] throttle (percentage)
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* @param heading_sp [cdeg] heading setpoint
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* @param latitude [degE7] Latitude
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* @param longitude [degE7] Longitude
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* @param altitude_amsl [m] Altitude above mean sea level
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* @param altitude_sp [m] Altitude setpoint relative to the home position
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* @param airspeed [m/s] airspeed
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* @param airspeed_sp [m/s] airspeed setpoint
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* @param groundspeed [m/s] groundspeed
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* @param climb_rate [m/s] climb rate
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* @param gps_nsat Number of satellites visible. If unknown, set to UINT8_MAX
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* @param gps_fix_type GPS Fix type.
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* @param battery_remaining [%] Remaining battery (percentage)
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* @param temperature [degC] Autopilot temperature (degrees C)
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* @param temperature_air [degC] Air temperature (degrees C) from airspeed sensor
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* @param failsafe failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
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* @param wp_num current waypoint number
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* @param wp_distance [m] distance to target
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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_high_latency_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 base_mode,uint32_t custom_mode,uint8_t landed_state,int16_t roll,int16_t pitch,uint16_t heading,int8_t throttle,int16_t heading_sp,int32_t latitude,int32_t longitude,int16_t altitude_amsl,int16_t altitude_sp,uint8_t airspeed,uint8_t airspeed_sp,uint8_t groundspeed,int8_t climb_rate,uint8_t gps_nsat,uint8_t gps_fix_type,uint8_t battery_remaining,int8_t temperature,int8_t temperature_air,uint8_t failsafe,uint8_t wp_num,uint16_t wp_distance)
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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_HIGH_LATENCY_LEN];
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_mav_put_uint32_t(buf, 0, custom_mode);
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_mav_put_int32_t(buf, 4, latitude);
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_mav_put_int32_t(buf, 8, longitude);
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_mav_put_int16_t(buf, 12, roll);
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_mav_put_int16_t(buf, 14, pitch);
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_mav_put_uint16_t(buf, 16, heading);
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_mav_put_int16_t(buf, 18, heading_sp);
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_mav_put_int16_t(buf, 20, altitude_amsl);
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_mav_put_int16_t(buf, 22, altitude_sp);
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_mav_put_uint16_t(buf, 24, wp_distance);
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_mav_put_uint8_t(buf, 26, base_mode);
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_mav_put_uint8_t(buf, 27, landed_state);
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_mav_put_int8_t(buf, 28, throttle);
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_mav_put_uint8_t(buf, 29, airspeed);
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_mav_put_uint8_t(buf, 30, airspeed_sp);
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_mav_put_uint8_t(buf, 31, groundspeed);
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_mav_put_int8_t(buf, 32, climb_rate);
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_mav_put_uint8_t(buf, 33, gps_nsat);
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_mav_put_uint8_t(buf, 34, gps_fix_type);
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_mav_put_uint8_t(buf, 35, battery_remaining);
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_mav_put_int8_t(buf, 36, temperature);
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_mav_put_int8_t(buf, 37, temperature_air);
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_mav_put_uint8_t(buf, 38, failsafe);
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_mav_put_uint8_t(buf, 39, wp_num);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGH_LATENCY_LEN);
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#else
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mavlink_high_latency_t packet;
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packet.custom_mode = custom_mode;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.heading = heading;
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packet.heading_sp = heading_sp;
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packet.altitude_amsl = altitude_amsl;
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packet.altitude_sp = altitude_sp;
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packet.wp_distance = wp_distance;
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packet.base_mode = base_mode;
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packet.landed_state = landed_state;
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packet.throttle = throttle;
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packet.airspeed = airspeed;
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packet.airspeed_sp = airspeed_sp;
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packet.groundspeed = groundspeed;
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packet.climb_rate = climb_rate;
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packet.gps_nsat = gps_nsat;
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packet.gps_fix_type = gps_fix_type;
|
|
packet.battery_remaining = battery_remaining;
|
|
packet.temperature = temperature;
|
|
packet.temperature_air = temperature_air;
|
|
packet.failsafe = failsafe;
|
|
packet.wp_num = wp_num;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGH_LATENCY_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_HIGH_LATENCY;
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a high_latency 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 high_latency C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_high_latency_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_high_latency_t* high_latency)
|
|
{
|
|
return mavlink_msg_high_latency_pack(system_id, component_id, msg, high_latency->base_mode, high_latency->custom_mode, high_latency->landed_state, high_latency->roll, high_latency->pitch, high_latency->heading, high_latency->throttle, high_latency->heading_sp, high_latency->latitude, high_latency->longitude, high_latency->altitude_amsl, high_latency->altitude_sp, high_latency->airspeed, high_latency->airspeed_sp, high_latency->groundspeed, high_latency->climb_rate, high_latency->gps_nsat, high_latency->gps_fix_type, high_latency->battery_remaining, high_latency->temperature, high_latency->temperature_air, high_latency->failsafe, high_latency->wp_num, high_latency->wp_distance);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a high_latency 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 high_latency C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_high_latency_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_high_latency_t* high_latency)
|
|
{
|
|
return mavlink_msg_high_latency_pack_chan(system_id, component_id, chan, msg, high_latency->base_mode, high_latency->custom_mode, high_latency->landed_state, high_latency->roll, high_latency->pitch, high_latency->heading, high_latency->throttle, high_latency->heading_sp, high_latency->latitude, high_latency->longitude, high_latency->altitude_amsl, high_latency->altitude_sp, high_latency->airspeed, high_latency->airspeed_sp, high_latency->groundspeed, high_latency->climb_rate, high_latency->gps_nsat, high_latency->gps_fix_type, high_latency->battery_remaining, high_latency->temperature, high_latency->temperature_air, high_latency->failsafe, high_latency->wp_num, high_latency->wp_distance);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a high_latency message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param base_mode Bitmap of enabled system modes.
|
|
* @param custom_mode A bitfield for use for autopilot-specific flags.
|
|
* @param landed_state The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
|
|
* @param roll [cdeg] roll
|
|
* @param pitch [cdeg] pitch
|
|
* @param heading [cdeg] heading
|
|
* @param throttle [%] throttle (percentage)
|
|
* @param heading_sp [cdeg] heading setpoint
|
|
* @param latitude [degE7] Latitude
|
|
* @param longitude [degE7] Longitude
|
|
* @param altitude_amsl [m] Altitude above mean sea level
|
|
* @param altitude_sp [m] Altitude setpoint relative to the home position
|
|
* @param airspeed [m/s] airspeed
|
|
* @param airspeed_sp [m/s] airspeed setpoint
|
|
* @param groundspeed [m/s] groundspeed
|
|
* @param climb_rate [m/s] climb rate
|
|
* @param gps_nsat Number of satellites visible. If unknown, set to UINT8_MAX
|
|
* @param gps_fix_type GPS Fix type.
|
|
* @param battery_remaining [%] Remaining battery (percentage)
|
|
* @param temperature [degC] Autopilot temperature (degrees C)
|
|
* @param temperature_air [degC] Air temperature (degrees C) from airspeed sensor
|
|
* @param failsafe failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
|
|
* @param wp_num current waypoint number
|
|
* @param wp_distance [m] distance to target
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_high_latency_send(mavlink_channel_t chan, uint8_t base_mode, uint32_t custom_mode, uint8_t landed_state, int16_t roll, int16_t pitch, uint16_t heading, int8_t throttle, int16_t heading_sp, int32_t latitude, int32_t longitude, int16_t altitude_amsl, int16_t altitude_sp, uint8_t airspeed, uint8_t airspeed_sp, uint8_t groundspeed, int8_t climb_rate, uint8_t gps_nsat, uint8_t gps_fix_type, uint8_t battery_remaining, int8_t temperature, int8_t temperature_air, uint8_t failsafe, uint8_t wp_num, uint16_t wp_distance)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_HIGH_LATENCY_LEN];
|
|
_mav_put_uint32_t(buf, 0, custom_mode);
|
|
_mav_put_int32_t(buf, 4, latitude);
|
|
_mav_put_int32_t(buf, 8, longitude);
|
|
_mav_put_int16_t(buf, 12, roll);
|
|
_mav_put_int16_t(buf, 14, pitch);
|
|
_mav_put_uint16_t(buf, 16, heading);
|
|
_mav_put_int16_t(buf, 18, heading_sp);
|
|
_mav_put_int16_t(buf, 20, altitude_amsl);
|
|
_mav_put_int16_t(buf, 22, altitude_sp);
|
|
_mav_put_uint16_t(buf, 24, wp_distance);
|
|
_mav_put_uint8_t(buf, 26, base_mode);
|
|
_mav_put_uint8_t(buf, 27, landed_state);
|
|
_mav_put_int8_t(buf, 28, throttle);
|
|
_mav_put_uint8_t(buf, 29, airspeed);
|
|
_mav_put_uint8_t(buf, 30, airspeed_sp);
|
|
_mav_put_uint8_t(buf, 31, groundspeed);
|
|
_mav_put_int8_t(buf, 32, climb_rate);
|
|
_mav_put_uint8_t(buf, 33, gps_nsat);
|
|
_mav_put_uint8_t(buf, 34, gps_fix_type);
|
|
_mav_put_uint8_t(buf, 35, battery_remaining);
|
|
_mav_put_int8_t(buf, 36, temperature);
|
|
_mav_put_int8_t(buf, 37, temperature_air);
|
|
_mav_put_uint8_t(buf, 38, failsafe);
|
|
_mav_put_uint8_t(buf, 39, wp_num);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGH_LATENCY, buf, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC);
|
|
#else
|
|
mavlink_high_latency_t packet;
|
|
packet.custom_mode = custom_mode;
|
|
packet.latitude = latitude;
|
|
packet.longitude = longitude;
|
|
packet.roll = roll;
|
|
packet.pitch = pitch;
|
|
packet.heading = heading;
|
|
packet.heading_sp = heading_sp;
|
|
packet.altitude_amsl = altitude_amsl;
|
|
packet.altitude_sp = altitude_sp;
|
|
packet.wp_distance = wp_distance;
|
|
packet.base_mode = base_mode;
|
|
packet.landed_state = landed_state;
|
|
packet.throttle = throttle;
|
|
packet.airspeed = airspeed;
|
|
packet.airspeed_sp = airspeed_sp;
|
|
packet.groundspeed = groundspeed;
|
|
packet.climb_rate = climb_rate;
|
|
packet.gps_nsat = gps_nsat;
|
|
packet.gps_fix_type = gps_fix_type;
|
|
packet.battery_remaining = battery_remaining;
|
|
packet.temperature = temperature;
|
|
packet.temperature_air = temperature_air;
|
|
packet.failsafe = failsafe;
|
|
packet.wp_num = wp_num;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGH_LATENCY, (const char *)&packet, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a high_latency message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_high_latency_send_struct(mavlink_channel_t chan, const mavlink_high_latency_t* high_latency)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_high_latency_send(chan, high_latency->base_mode, high_latency->custom_mode, high_latency->landed_state, high_latency->roll, high_latency->pitch, high_latency->heading, high_latency->throttle, high_latency->heading_sp, high_latency->latitude, high_latency->longitude, high_latency->altitude_amsl, high_latency->altitude_sp, high_latency->airspeed, high_latency->airspeed_sp, high_latency->groundspeed, high_latency->climb_rate, high_latency->gps_nsat, high_latency->gps_fix_type, high_latency->battery_remaining, high_latency->temperature, high_latency->temperature_air, high_latency->failsafe, high_latency->wp_num, high_latency->wp_distance);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGH_LATENCY, (const char *)high_latency, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_HIGH_LATENCY_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_high_latency_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t base_mode, uint32_t custom_mode, uint8_t landed_state, int16_t roll, int16_t pitch, uint16_t heading, int8_t throttle, int16_t heading_sp, int32_t latitude, int32_t longitude, int16_t altitude_amsl, int16_t altitude_sp, uint8_t airspeed, uint8_t airspeed_sp, uint8_t groundspeed, int8_t climb_rate, uint8_t gps_nsat, uint8_t gps_fix_type, uint8_t battery_remaining, int8_t temperature, int8_t temperature_air, uint8_t failsafe, uint8_t wp_num, uint16_t wp_distance)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint32_t(buf, 0, custom_mode);
|
|
_mav_put_int32_t(buf, 4, latitude);
|
|
_mav_put_int32_t(buf, 8, longitude);
|
|
_mav_put_int16_t(buf, 12, roll);
|
|
_mav_put_int16_t(buf, 14, pitch);
|
|
_mav_put_uint16_t(buf, 16, heading);
|
|
_mav_put_int16_t(buf, 18, heading_sp);
|
|
_mav_put_int16_t(buf, 20, altitude_amsl);
|
|
_mav_put_int16_t(buf, 22, altitude_sp);
|
|
_mav_put_uint16_t(buf, 24, wp_distance);
|
|
_mav_put_uint8_t(buf, 26, base_mode);
|
|
_mav_put_uint8_t(buf, 27, landed_state);
|
|
_mav_put_int8_t(buf, 28, throttle);
|
|
_mav_put_uint8_t(buf, 29, airspeed);
|
|
_mav_put_uint8_t(buf, 30, airspeed_sp);
|
|
_mav_put_uint8_t(buf, 31, groundspeed);
|
|
_mav_put_int8_t(buf, 32, climb_rate);
|
|
_mav_put_uint8_t(buf, 33, gps_nsat);
|
|
_mav_put_uint8_t(buf, 34, gps_fix_type);
|
|
_mav_put_uint8_t(buf, 35, battery_remaining);
|
|
_mav_put_int8_t(buf, 36, temperature);
|
|
_mav_put_int8_t(buf, 37, temperature_air);
|
|
_mav_put_uint8_t(buf, 38, failsafe);
|
|
_mav_put_uint8_t(buf, 39, wp_num);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGH_LATENCY, buf, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC);
|
|
#else
|
|
mavlink_high_latency_t *packet = (mavlink_high_latency_t *)msgbuf;
|
|
packet->custom_mode = custom_mode;
|
|
packet->latitude = latitude;
|
|
packet->longitude = longitude;
|
|
packet->roll = roll;
|
|
packet->pitch = pitch;
|
|
packet->heading = heading;
|
|
packet->heading_sp = heading_sp;
|
|
packet->altitude_amsl = altitude_amsl;
|
|
packet->altitude_sp = altitude_sp;
|
|
packet->wp_distance = wp_distance;
|
|
packet->base_mode = base_mode;
|
|
packet->landed_state = landed_state;
|
|
packet->throttle = throttle;
|
|
packet->airspeed = airspeed;
|
|
packet->airspeed_sp = airspeed_sp;
|
|
packet->groundspeed = groundspeed;
|
|
packet->climb_rate = climb_rate;
|
|
packet->gps_nsat = gps_nsat;
|
|
packet->gps_fix_type = gps_fix_type;
|
|
packet->battery_remaining = battery_remaining;
|
|
packet->temperature = temperature;
|
|
packet->temperature_air = temperature_air;
|
|
packet->failsafe = failsafe;
|
|
packet->wp_num = wp_num;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGH_LATENCY, (const char *)packet, MAVLINK_MSG_ID_HIGH_LATENCY_MIN_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_LEN, MAVLINK_MSG_ID_HIGH_LATENCY_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE HIGH_LATENCY UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field base_mode from high_latency message
|
|
*
|
|
* @return Bitmap of enabled system modes.
|
|
*/
|
|
static inline uint8_t mavlink_msg_high_latency_get_base_mode(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 26);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field custom_mode from high_latency message
|
|
*
|
|
* @return A bitfield for use for autopilot-specific flags.
|
|
*/
|
|
static inline uint32_t mavlink_msg_high_latency_get_custom_mode(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field landed_state from high_latency message
|
|
*
|
|
* @return The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
|
|
*/
|
|
static inline uint8_t mavlink_msg_high_latency_get_landed_state(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 27);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field roll from high_latency message
|
|
*
|
|
* @return [cdeg] roll
|
|
*/
|
|
static inline int16_t mavlink_msg_high_latency_get_roll(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field pitch from high_latency message
|
|
*
|
|
* @return [cdeg] pitch
|
|
*/
|
|
static inline int16_t mavlink_msg_high_latency_get_pitch(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 14);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field heading from high_latency message
|
|
*
|
|
* @return [cdeg] heading
|
|
*/
|
|
static inline uint16_t mavlink_msg_high_latency_get_heading(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field throttle from high_latency message
|
|
*
|
|
* @return [%] throttle (percentage)
|
|
*/
|
|
static inline int8_t mavlink_msg_high_latency_get_throttle(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int8_t(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field heading_sp from high_latency message
|
|
*
|
|
* @return [cdeg] heading setpoint
|
|
*/
|
|
static inline int16_t mavlink_msg_high_latency_get_heading_sp(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 18);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field latitude from high_latency message
|
|
*
|
|
* @return [degE7] Latitude
|
|
*/
|
|
static inline int32_t mavlink_msg_high_latency_get_latitude(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field longitude from high_latency message
|
|
*
|
|
* @return [degE7] Longitude
|
|
*/
|
|
static inline int32_t mavlink_msg_high_latency_get_longitude(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field altitude_amsl from high_latency message
|
|
*
|
|
* @return [m] Altitude above mean sea level
|
|
*/
|
|
static inline int16_t mavlink_msg_high_latency_get_altitude_amsl(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field altitude_sp from high_latency message
|
|
*
|
|
* @return [m] Altitude setpoint relative to the home position
|
|
*/
|
|
static inline int16_t mavlink_msg_high_latency_get_altitude_sp(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 22);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field airspeed from high_latency message
|
|
*
|
|
* @return [m/s] airspeed
|
|
*/
|
|
static inline uint8_t mavlink_msg_high_latency_get_airspeed(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 29);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field airspeed_sp from high_latency message
|
|
*
|
|
* @return [m/s] airspeed setpoint
|
|
*/
|
|
static inline uint8_t mavlink_msg_high_latency_get_airspeed_sp(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 30);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field groundspeed from high_latency message
|
|
*
|
|
* @return [m/s] groundspeed
|
|
*/
|
|
static inline uint8_t mavlink_msg_high_latency_get_groundspeed(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 31);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field climb_rate from high_latency message
|
|
*
|
|
* @return [m/s] climb rate
|
|
*/
|
|
static inline int8_t mavlink_msg_high_latency_get_climb_rate(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int8_t(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field gps_nsat from high_latency message
|
|
*
|
|
* @return Number of satellites visible. If unknown, set to UINT8_MAX
|
|
*/
|
|
static inline uint8_t mavlink_msg_high_latency_get_gps_nsat(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 33);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field gps_fix_type from high_latency message
|
|
*
|
|
* @return GPS Fix type.
|
|
*/
|
|
static inline uint8_t mavlink_msg_high_latency_get_gps_fix_type(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 34);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field battery_remaining from high_latency message
|
|
*
|
|
* @return [%] Remaining battery (percentage)
|
|
*/
|
|
static inline uint8_t mavlink_msg_high_latency_get_battery_remaining(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 35);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field temperature from high_latency message
|
|
*
|
|
* @return [degC] Autopilot temperature (degrees C)
|
|
*/
|
|
static inline int8_t mavlink_msg_high_latency_get_temperature(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int8_t(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field temperature_air from high_latency message
|
|
*
|
|
* @return [degC] Air temperature (degrees C) from airspeed sensor
|
|
*/
|
|
static inline int8_t mavlink_msg_high_latency_get_temperature_air(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int8_t(msg, 37);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field failsafe from high_latency message
|
|
*
|
|
* @return failsafe (each bit represents a failsafe where 0=ok, 1=failsafe active (bit0:RC, bit1:batt, bit2:GPS, bit3:GCS, bit4:fence)
|
|
*/
|
|
static inline uint8_t mavlink_msg_high_latency_get_failsafe(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 38);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field wp_num from high_latency message
|
|
*
|
|
* @return current waypoint number
|
|
*/
|
|
static inline uint8_t mavlink_msg_high_latency_get_wp_num(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 39);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field wp_distance from high_latency message
|
|
*
|
|
* @return [m] distance to target
|
|
*/
|
|
static inline uint16_t mavlink_msg_high_latency_get_wp_distance(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a high_latency message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param high_latency C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_high_latency_decode(const mavlink_message_t* msg, mavlink_high_latency_t* high_latency)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
high_latency->custom_mode = mavlink_msg_high_latency_get_custom_mode(msg);
|
|
high_latency->latitude = mavlink_msg_high_latency_get_latitude(msg);
|
|
high_latency->longitude = mavlink_msg_high_latency_get_longitude(msg);
|
|
high_latency->roll = mavlink_msg_high_latency_get_roll(msg);
|
|
high_latency->pitch = mavlink_msg_high_latency_get_pitch(msg);
|
|
high_latency->heading = mavlink_msg_high_latency_get_heading(msg);
|
|
high_latency->heading_sp = mavlink_msg_high_latency_get_heading_sp(msg);
|
|
high_latency->altitude_amsl = mavlink_msg_high_latency_get_altitude_amsl(msg);
|
|
high_latency->altitude_sp = mavlink_msg_high_latency_get_altitude_sp(msg);
|
|
high_latency->wp_distance = mavlink_msg_high_latency_get_wp_distance(msg);
|
|
high_latency->base_mode = mavlink_msg_high_latency_get_base_mode(msg);
|
|
high_latency->landed_state = mavlink_msg_high_latency_get_landed_state(msg);
|
|
high_latency->throttle = mavlink_msg_high_latency_get_throttle(msg);
|
|
high_latency->airspeed = mavlink_msg_high_latency_get_airspeed(msg);
|
|
high_latency->airspeed_sp = mavlink_msg_high_latency_get_airspeed_sp(msg);
|
|
high_latency->groundspeed = mavlink_msg_high_latency_get_groundspeed(msg);
|
|
high_latency->climb_rate = mavlink_msg_high_latency_get_climb_rate(msg);
|
|
high_latency->gps_nsat = mavlink_msg_high_latency_get_gps_nsat(msg);
|
|
high_latency->gps_fix_type = mavlink_msg_high_latency_get_gps_fix_type(msg);
|
|
high_latency->battery_remaining = mavlink_msg_high_latency_get_battery_remaining(msg);
|
|
high_latency->temperature = mavlink_msg_high_latency_get_temperature(msg);
|
|
high_latency->temperature_air = mavlink_msg_high_latency_get_temperature_air(msg);
|
|
high_latency->failsafe = mavlink_msg_high_latency_get_failsafe(msg);
|
|
high_latency->wp_num = mavlink_msg_high_latency_get_wp_num(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_HIGH_LATENCY_LEN? msg->len : MAVLINK_MSG_ID_HIGH_LATENCY_LEN;
|
|
memset(high_latency, 0, MAVLINK_MSG_ID_HIGH_LATENCY_LEN);
|
|
memcpy(high_latency, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|