#pragma once // MESSAGE COMMAND_INT PACKING #define MAVLINK_MSG_ID_COMMAND_INT 75 MAVPACKED( typedef struct __mavlink_command_int_t { float param1; /*< PARAM1, see MAV_CMD enum*/ float param2; /*< PARAM2, see MAV_CMD enum*/ float param3; /*< PARAM3, see MAV_CMD enum*/ float param4; /*< PARAM4, see MAV_CMD enum*/ int32_t x; /*< PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7*/ int32_t y; /*< PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7*/ float z; /*< PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.*/ uint16_t command; /*< The scheduled action for the mission item. see MAV_CMD in common.xml MAVLink specs*/ uint8_t target_system; /*< System ID*/ uint8_t target_component; /*< Component ID*/ uint8_t frame; /*< The coordinate system of the COMMAND. see MAV_FRAME in mavlink_types.h*/ uint8_t current; /*< false:0, true:1*/ uint8_t autocontinue; /*< autocontinue to next wp*/ }) mavlink_command_int_t; #define MAVLINK_MSG_ID_COMMAND_INT_LEN 35 #define MAVLINK_MSG_ID_COMMAND_INT_MIN_LEN 35 #define MAVLINK_MSG_ID_75_LEN 35 #define MAVLINK_MSG_ID_75_MIN_LEN 35 #define MAVLINK_MSG_ID_COMMAND_INT_CRC 158 #define MAVLINK_MSG_ID_75_CRC 158 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_COMMAND_INT { \ 75, \ "COMMAND_INT", \ 13, \ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_int_t, target_system) }, \ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_int_t, target_component) }, \ { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_int_t, frame) }, \ { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_int_t, command) }, \ { "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_command_int_t, current) }, \ { "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_command_int_t, autocontinue) }, \ { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_int_t, param1) }, \ { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_int_t, param2) }, \ { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_int_t, param3) }, \ { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_int_t, param4) }, \ { "x", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_command_int_t, x) }, \ { "y", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_command_int_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_int_t, z) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_COMMAND_INT { \ "COMMAND_INT", \ 13, \ { { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_command_int_t, target_system) }, \ { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_command_int_t, target_component) }, \ { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_command_int_t, frame) }, \ { "command", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_command_int_t, command) }, \ { "current", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_command_int_t, current) }, \ { "autocontinue", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_command_int_t, autocontinue) }, \ { "param1", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_command_int_t, param1) }, \ { "param2", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_command_int_t, param2) }, \ { "param3", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_command_int_t, param3) }, \ { "param4", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_command_int_t, param4) }, \ { "x", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_command_int_t, x) }, \ { "y", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_command_int_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_command_int_t, z) }, \ } \ } #endif /** * @brief Pack a command_int 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 target_system System ID * @param target_component Component ID * @param frame The coordinate system of the COMMAND. see MAV_FRAME in mavlink_types.h * @param command The scheduled action for the mission item. see MAV_CMD in common.xml MAVLink specs * @param current false:0, true:1 * @param autocontinue autocontinue to next wp * @param param1 PARAM1, see MAV_CMD enum * @param param2 PARAM2, see MAV_CMD enum * @param param3 PARAM3, see MAV_CMD enum * @param param4 PARAM4, see MAV_CMD enum * @param x PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 * @param y PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7 * @param z PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_command_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target_system, uint8_t target_component, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, int32_t x, int32_t y, float z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_COMMAND_INT_LEN]; _mav_put_float(buf, 0, param1); _mav_put_float(buf, 4, param2); _mav_put_float(buf, 8, param3); _mav_put_float(buf, 12, param4); _mav_put_int32_t(buf, 16, x); _mav_put_int32_t(buf, 20, y); _mav_put_float(buf, 24, z); _mav_put_uint16_t(buf, 28, command); _mav_put_uint8_t(buf, 30, target_system); _mav_put_uint8_t(buf, 31, target_component); _mav_put_uint8_t(buf, 32, frame); _mav_put_uint8_t(buf, 33, current); _mav_put_uint8_t(buf, 34, autocontinue); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_INT_LEN); #else mavlink_command_int_t packet; packet.param1 = param1; packet.param2 = param2; packet.param3 = param3; packet.param4 = param4; packet.x = x; packet.y = y; packet.z = z; packet.command = command; packet.target_system = target_system; packet.target_component = target_component; packet.frame = frame; packet.current = current; packet.autocontinue = autocontinue; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_INT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_COMMAND_INT; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_COMMAND_INT_MIN_LEN, MAVLINK_MSG_ID_COMMAND_INT_LEN, MAVLINK_MSG_ID_COMMAND_INT_CRC); } /** * @brief Pack a command_int message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param target_system System ID * @param target_component Component ID * @param frame The coordinate system of the COMMAND. see MAV_FRAME in mavlink_types.h * @param command The scheduled action for the mission item. see MAV_CMD in common.xml MAVLink specs * @param current false:0, true:1 * @param autocontinue autocontinue to next wp * @param param1 PARAM1, see MAV_CMD enum * @param param2 PARAM2, see MAV_CMD enum * @param param3 PARAM3, see MAV_CMD enum * @param param4 PARAM4, see MAV_CMD enum * @param x PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 * @param y PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7 * @param z PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_command_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target_system,uint8_t target_component,uint8_t frame,uint16_t command,uint8_t current,uint8_t autocontinue,float param1,float param2,float param3,float param4,int32_t x,int32_t y,float z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_COMMAND_INT_LEN]; _mav_put_float(buf, 0, param1); _mav_put_float(buf, 4, param2); _mav_put_float(buf, 8, param3); _mav_put_float(buf, 12, param4); _mav_put_int32_t(buf, 16, x); _mav_put_int32_t(buf, 20, y); _mav_put_float(buf, 24, z); _mav_put_uint16_t(buf, 28, command); _mav_put_uint8_t(buf, 30, target_system); _mav_put_uint8_t(buf, 31, target_component); _mav_put_uint8_t(buf, 32, frame); _mav_put_uint8_t(buf, 33, current); _mav_put_uint8_t(buf, 34, autocontinue); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_COMMAND_INT_LEN); #else mavlink_command_int_t packet; packet.param1 = param1; packet.param2 = param2; packet.param3 = param3; packet.param4 = param4; packet.x = x; packet.y = y; packet.z = z; packet.command = command; packet.target_system = target_system; packet.target_component = target_component; packet.frame = frame; packet.current = current; packet.autocontinue = autocontinue; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_COMMAND_INT_LEN); #endif msg->msgid = MAVLINK_MSG_ID_COMMAND_INT; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_COMMAND_INT_MIN_LEN, MAVLINK_MSG_ID_COMMAND_INT_LEN, MAVLINK_MSG_ID_COMMAND_INT_CRC); } /** * @brief Encode a command_int 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 command_int C-struct to read the message contents from */ static inline uint16_t mavlink_msg_command_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_command_int_t* command_int) { return mavlink_msg_command_int_pack(system_id, component_id, msg, command_int->target_system, command_int->target_component, command_int->frame, command_int->command, command_int->current, command_int->autocontinue, command_int->param1, command_int->param2, command_int->param3, command_int->param4, command_int->x, command_int->y, command_int->z); } /** * @brief Encode a command_int 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 command_int C-struct to read the message contents from */ static inline uint16_t mavlink_msg_command_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_command_int_t* command_int) { return mavlink_msg_command_int_pack_chan(system_id, component_id, chan, msg, command_int->target_system, command_int->target_component, command_int->frame, command_int->command, command_int->current, command_int->autocontinue, command_int->param1, command_int->param2, command_int->param3, command_int->param4, command_int->x, command_int->y, command_int->z); } /** * @brief Send a command_int message * @param chan MAVLink channel to send the message * * @param target_system System ID * @param target_component Component ID * @param frame The coordinate system of the COMMAND. see MAV_FRAME in mavlink_types.h * @param command The scheduled action for the mission item. see MAV_CMD in common.xml MAVLink specs * @param current false:0, true:1 * @param autocontinue autocontinue to next wp * @param param1 PARAM1, see MAV_CMD enum * @param param2 PARAM2, see MAV_CMD enum * @param param3 PARAM3, see MAV_CMD enum * @param param4 PARAM4, see MAV_CMD enum * @param x PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 * @param y PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7 * @param z PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_command_int_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, int32_t x, int32_t y, float z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_COMMAND_INT_LEN]; _mav_put_float(buf, 0, param1); _mav_put_float(buf, 4, param2); _mav_put_float(buf, 8, param3); _mav_put_float(buf, 12, param4); _mav_put_int32_t(buf, 16, x); _mav_put_int32_t(buf, 20, y); _mav_put_float(buf, 24, z); _mav_put_uint16_t(buf, 28, command); _mav_put_uint8_t(buf, 30, target_system); _mav_put_uint8_t(buf, 31, target_component); _mav_put_uint8_t(buf, 32, frame); _mav_put_uint8_t(buf, 33, current); _mav_put_uint8_t(buf, 34, autocontinue); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_INT, buf, MAVLINK_MSG_ID_COMMAND_INT_MIN_LEN, MAVLINK_MSG_ID_COMMAND_INT_LEN, MAVLINK_MSG_ID_COMMAND_INT_CRC); #else mavlink_command_int_t packet; packet.param1 = param1; packet.param2 = param2; packet.param3 = param3; packet.param4 = param4; packet.x = x; packet.y = y; packet.z = z; packet.command = command; packet.target_system = target_system; packet.target_component = target_component; packet.frame = frame; packet.current = current; packet.autocontinue = autocontinue; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_INT, (const char *)&packet, MAVLINK_MSG_ID_COMMAND_INT_MIN_LEN, MAVLINK_MSG_ID_COMMAND_INT_LEN, MAVLINK_MSG_ID_COMMAND_INT_CRC); #endif } /** * @brief Send a command_int message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_command_int_send_struct(mavlink_channel_t chan, const mavlink_command_int_t* command_int) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_command_int_send(chan, command_int->target_system, command_int->target_component, command_int->frame, command_int->command, command_int->current, command_int->autocontinue, command_int->param1, command_int->param2, command_int->param3, command_int->param4, command_int->x, command_int->y, command_int->z); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_INT, (const char *)command_int, MAVLINK_MSG_ID_COMMAND_INT_MIN_LEN, MAVLINK_MSG_ID_COMMAND_INT_LEN, MAVLINK_MSG_ID_COMMAND_INT_CRC); #endif } #if MAVLINK_MSG_ID_COMMAND_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient 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_command_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint8_t frame, uint16_t command, uint8_t current, uint8_t autocontinue, float param1, float param2, float param3, float param4, int32_t x, int32_t y, float z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_float(buf, 0, param1); _mav_put_float(buf, 4, param2); _mav_put_float(buf, 8, param3); _mav_put_float(buf, 12, param4); _mav_put_int32_t(buf, 16, x); _mav_put_int32_t(buf, 20, y); _mav_put_float(buf, 24, z); _mav_put_uint16_t(buf, 28, command); _mav_put_uint8_t(buf, 30, target_system); _mav_put_uint8_t(buf, 31, target_component); _mav_put_uint8_t(buf, 32, frame); _mav_put_uint8_t(buf, 33, current); _mav_put_uint8_t(buf, 34, autocontinue); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_INT, buf, MAVLINK_MSG_ID_COMMAND_INT_MIN_LEN, MAVLINK_MSG_ID_COMMAND_INT_LEN, MAVLINK_MSG_ID_COMMAND_INT_CRC); #else mavlink_command_int_t *packet = (mavlink_command_int_t *)msgbuf; packet->param1 = param1; packet->param2 = param2; packet->param3 = param3; packet->param4 = param4; packet->x = x; packet->y = y; packet->z = z; packet->command = command; packet->target_system = target_system; packet->target_component = target_component; packet->frame = frame; packet->current = current; packet->autocontinue = autocontinue; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_COMMAND_INT, (const char *)packet, MAVLINK_MSG_ID_COMMAND_INT_MIN_LEN, MAVLINK_MSG_ID_COMMAND_INT_LEN, MAVLINK_MSG_ID_COMMAND_INT_CRC); #endif } #endif #endif // MESSAGE COMMAND_INT UNPACKING /** * @brief Get field target_system from command_int message * * @return System ID */ static inline uint8_t mavlink_msg_command_int_get_target_system(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 30); } /** * @brief Get field target_component from command_int message * * @return Component ID */ static inline uint8_t mavlink_msg_command_int_get_target_component(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 31); } /** * @brief Get field frame from command_int message * * @return The coordinate system of the COMMAND. see MAV_FRAME in mavlink_types.h */ static inline uint8_t mavlink_msg_command_int_get_frame(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 32); } /** * @brief Get field command from command_int message * * @return The scheduled action for the mission item. see MAV_CMD in common.xml MAVLink specs */ static inline uint16_t mavlink_msg_command_int_get_command(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 28); } /** * @brief Get field current from command_int message * * @return false:0, true:1 */ static inline uint8_t mavlink_msg_command_int_get_current(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 33); } /** * @brief Get field autocontinue from command_int message * * @return autocontinue to next wp */ static inline uint8_t mavlink_msg_command_int_get_autocontinue(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 34); } /** * @brief Get field param1 from command_int message * * @return PARAM1, see MAV_CMD enum */ static inline float mavlink_msg_command_int_get_param1(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 0); } /** * @brief Get field param2 from command_int message * * @return PARAM2, see MAV_CMD enum */ static inline float mavlink_msg_command_int_get_param2(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field param3 from command_int message * * @return PARAM3, see MAV_CMD enum */ static inline float mavlink_msg_command_int_get_param3(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field param4 from command_int message * * @return PARAM4, see MAV_CMD enum */ static inline float mavlink_msg_command_int_get_param4(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field x from command_int message * * @return PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7 */ static inline int32_t mavlink_msg_command_int_get_x(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 16); } /** * @brief Get field y from command_int message * * @return PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7 */ static inline int32_t mavlink_msg_command_int_get_y(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 20); } /** * @brief Get field z from command_int message * * @return PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame. */ static inline float mavlink_msg_command_int_get_z(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Decode a command_int message into a struct * * @param msg The message to decode * @param command_int C-struct to decode the message contents into */ static inline void mavlink_msg_command_int_decode(const mavlink_message_t* msg, mavlink_command_int_t* command_int) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS command_int->param1 = mavlink_msg_command_int_get_param1(msg); command_int->param2 = mavlink_msg_command_int_get_param2(msg); command_int->param3 = mavlink_msg_command_int_get_param3(msg); command_int->param4 = mavlink_msg_command_int_get_param4(msg); command_int->x = mavlink_msg_command_int_get_x(msg); command_int->y = mavlink_msg_command_int_get_y(msg); command_int->z = mavlink_msg_command_int_get_z(msg); command_int->command = mavlink_msg_command_int_get_command(msg); command_int->target_system = mavlink_msg_command_int_get_target_system(msg); command_int->target_component = mavlink_msg_command_int_get_target_component(msg); command_int->frame = mavlink_msg_command_int_get_frame(msg); command_int->current = mavlink_msg_command_int_get_current(msg); command_int->autocontinue = mavlink_msg_command_int_get_autocontinue(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_COMMAND_INT_LEN? msg->len : MAVLINK_MSG_ID_COMMAND_INT_LEN; memset(command_int, 0, MAVLINK_MSG_ID_COMMAND_INT_LEN); memcpy(command_int, _MAV_PAYLOAD(msg), len); #endif }