#pragma once // MESSAGE MANUAL_CONTROL PACKING #define MAVLINK_MSG_ID_MANUAL_CONTROL 69 MAVPACKED( typedef struct __mavlink_manual_control_t { int16_t x; /*< X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.*/ int16_t y; /*< Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.*/ int16_t z; /*< Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.*/ int16_t r; /*< R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.*/ uint16_t buttons; /*< A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.*/ uint8_t target; /*< The system to be controlled.*/ uint16_t buttons2; /*< A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16.*/ uint8_t enabled_extensions; /*< Set bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6*/ int16_t s; /*< Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid.*/ int16_t t; /*< Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid.*/ int16_t aux1; /*< Aux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset.*/ int16_t aux2; /*< Aux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset.*/ int16_t aux3; /*< Aux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset.*/ int16_t aux4; /*< Aux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset.*/ int16_t aux5; /*< Aux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset.*/ int16_t aux6; /*< Aux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset.*/ }) mavlink_manual_control_t; #define MAVLINK_MSG_ID_MANUAL_CONTROL_LEN 30 #define MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN 11 #define MAVLINK_MSG_ID_69_LEN 30 #define MAVLINK_MSG_ID_69_MIN_LEN 11 #define MAVLINK_MSG_ID_MANUAL_CONTROL_CRC 243 #define MAVLINK_MSG_ID_69_CRC 243 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \ 69, \ "MANUAL_CONTROL", \ 16, \ { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \ { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \ { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \ { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \ { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \ { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \ { "buttons2", NULL, MAVLINK_TYPE_UINT16_T, 0, 11, offsetof(mavlink_manual_control_t, buttons2) }, \ { "enabled_extensions", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_manual_control_t, enabled_extensions) }, \ { "s", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_manual_control_t, s) }, \ { "t", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_manual_control_t, t) }, \ { "aux1", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_manual_control_t, aux1) }, \ { "aux2", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_manual_control_t, aux2) }, \ { "aux3", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_manual_control_t, aux3) }, \ { "aux4", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_manual_control_t, aux4) }, \ { "aux5", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_manual_control_t, aux5) }, \ { "aux6", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_manual_control_t, aux6) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_MANUAL_CONTROL { \ "MANUAL_CONTROL", \ 16, \ { { "target", NULL, MAVLINK_TYPE_UINT8_T, 0, 10, offsetof(mavlink_manual_control_t, target) }, \ { "x", NULL, MAVLINK_TYPE_INT16_T, 0, 0, offsetof(mavlink_manual_control_t, x) }, \ { "y", NULL, MAVLINK_TYPE_INT16_T, 0, 2, offsetof(mavlink_manual_control_t, y) }, \ { "z", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_manual_control_t, z) }, \ { "r", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_manual_control_t, r) }, \ { "buttons", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_manual_control_t, buttons) }, \ { "buttons2", NULL, MAVLINK_TYPE_UINT16_T, 0, 11, offsetof(mavlink_manual_control_t, buttons2) }, \ { "enabled_extensions", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_manual_control_t, enabled_extensions) }, \ { "s", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_manual_control_t, s) }, \ { "t", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_manual_control_t, t) }, \ { "aux1", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_manual_control_t, aux1) }, \ { "aux2", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_manual_control_t, aux2) }, \ { "aux3", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_manual_control_t, aux3) }, \ { "aux4", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_manual_control_t, aux4) }, \ { "aux5", NULL, MAVLINK_TYPE_INT16_T, 0, 26, offsetof(mavlink_manual_control_t, aux5) }, \ { "aux6", NULL, MAVLINK_TYPE_INT16_T, 0, 28, offsetof(mavlink_manual_control_t, aux6) }, \ } \ } #endif /** * @brief Pack a manual_control 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 The system to be controlled. * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust. * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. * @param buttons A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. * @param buttons2 A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16. * @param enabled_extensions Set bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6 * @param s Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid. * @param t Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid. * @param aux1 Aux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset. * @param aux2 Aux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset. * @param aux3 Aux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset. * @param aux4 Aux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset. * @param aux5 Aux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset. * @param aux6 Aux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_manual_control_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons, uint16_t buttons2, uint8_t enabled_extensions, int16_t s, int16_t t, int16_t aux1, int16_t aux2, int16_t aux3, int16_t aux4, int16_t aux5, int16_t aux6) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN]; _mav_put_int16_t(buf, 0, x); _mav_put_int16_t(buf, 2, y); _mav_put_int16_t(buf, 4, z); _mav_put_int16_t(buf, 6, r); _mav_put_uint16_t(buf, 8, buttons); _mav_put_uint8_t(buf, 10, target); _mav_put_uint16_t(buf, 11, buttons2); _mav_put_uint8_t(buf, 13, enabled_extensions); _mav_put_int16_t(buf, 14, s); _mav_put_int16_t(buf, 16, t); _mav_put_int16_t(buf, 18, aux1); _mav_put_int16_t(buf, 20, aux2); _mav_put_int16_t(buf, 22, aux3); _mav_put_int16_t(buf, 24, aux4); _mav_put_int16_t(buf, 26, aux5); _mav_put_int16_t(buf, 28, aux6); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); #else mavlink_manual_control_t packet; packet.x = x; packet.y = y; packet.z = z; packet.r = r; packet.buttons = buttons; packet.target = target; packet.buttons2 = buttons2; packet.enabled_extensions = enabled_extensions; packet.s = s; packet.t = t; packet.aux1 = aux1; packet.aux2 = aux2; packet.aux3 = aux3; packet.aux4 = aux4; packet.aux5 = aux5; packet.aux6 = aux6; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); #endif msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); } /** * @brief Pack a manual_control message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param status MAVLink status structure * @param msg The MAVLink message to compress the data into * * @param target The system to be controlled. * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust. * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. * @param buttons A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. * @param buttons2 A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16. * @param enabled_extensions Set bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6 * @param s Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid. * @param t Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid. * @param aux1 Aux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset. * @param aux2 Aux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset. * @param aux3 Aux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset. * @param aux4 Aux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset. * @param aux5 Aux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset. * @param aux6 Aux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_manual_control_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons, uint16_t buttons2, uint8_t enabled_extensions, int16_t s, int16_t t, int16_t aux1, int16_t aux2, int16_t aux3, int16_t aux4, int16_t aux5, int16_t aux6) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN]; _mav_put_int16_t(buf, 0, x); _mav_put_int16_t(buf, 2, y); _mav_put_int16_t(buf, 4, z); _mav_put_int16_t(buf, 6, r); _mav_put_uint16_t(buf, 8, buttons); _mav_put_uint8_t(buf, 10, target); _mav_put_uint16_t(buf, 11, buttons2); _mav_put_uint8_t(buf, 13, enabled_extensions); _mav_put_int16_t(buf, 14, s); _mav_put_int16_t(buf, 16, t); _mav_put_int16_t(buf, 18, aux1); _mav_put_int16_t(buf, 20, aux2); _mav_put_int16_t(buf, 22, aux3); _mav_put_int16_t(buf, 24, aux4); _mav_put_int16_t(buf, 26, aux5); _mav_put_int16_t(buf, 28, aux6); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); #else mavlink_manual_control_t packet; packet.x = x; packet.y = y; packet.z = z; packet.r = r; packet.buttons = buttons; packet.target = target; packet.buttons2 = buttons2; packet.enabled_extensions = enabled_extensions; packet.s = s; packet.t = t; packet.aux1 = aux1; packet.aux2 = aux2; packet.aux3 = aux3; packet.aux4 = aux4; packet.aux5 = aux5; packet.aux6 = aux6; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); #endif msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); #else return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); #endif } /** * @brief Pack a manual_control 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 The system to be controlled. * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust. * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. * @param buttons A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. * @param buttons2 A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16. * @param enabled_extensions Set bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6 * @param s Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid. * @param t Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid. * @param aux1 Aux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset. * @param aux2 Aux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset. * @param aux3 Aux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset. * @param aux4 Aux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset. * @param aux5 Aux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset. * @param aux6 Aux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_manual_control_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint8_t target,int16_t x,int16_t y,int16_t z,int16_t r,uint16_t buttons,uint16_t buttons2,uint8_t enabled_extensions,int16_t s,int16_t t,int16_t aux1,int16_t aux2,int16_t aux3,int16_t aux4,int16_t aux5,int16_t aux6) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN]; _mav_put_int16_t(buf, 0, x); _mav_put_int16_t(buf, 2, y); _mav_put_int16_t(buf, 4, z); _mav_put_int16_t(buf, 6, r); _mav_put_uint16_t(buf, 8, buttons); _mav_put_uint8_t(buf, 10, target); _mav_put_uint16_t(buf, 11, buttons2); _mav_put_uint8_t(buf, 13, enabled_extensions); _mav_put_int16_t(buf, 14, s); _mav_put_int16_t(buf, 16, t); _mav_put_int16_t(buf, 18, aux1); _mav_put_int16_t(buf, 20, aux2); _mav_put_int16_t(buf, 22, aux3); _mav_put_int16_t(buf, 24, aux4); _mav_put_int16_t(buf, 26, aux5); _mav_put_int16_t(buf, 28, aux6); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); #else mavlink_manual_control_t packet; packet.x = x; packet.y = y; packet.z = z; packet.r = r; packet.buttons = buttons; packet.target = target; packet.buttons2 = buttons2; packet.enabled_extensions = enabled_extensions; packet.s = s; packet.t = t; packet.aux1 = aux1; packet.aux2 = aux2; packet.aux3 = aux3; packet.aux4 = aux4; packet.aux5 = aux5; packet.aux6 = aux6; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); #endif msg->msgid = MAVLINK_MSG_ID_MANUAL_CONTROL; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); } /** * @brief Encode a manual_control 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 manual_control C-struct to read the message contents from */ static inline uint16_t mavlink_msg_manual_control_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control) { return mavlink_msg_manual_control_pack(system_id, component_id, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons, manual_control->buttons2, manual_control->enabled_extensions, manual_control->s, manual_control->t, manual_control->aux1, manual_control->aux2, manual_control->aux3, manual_control->aux4, manual_control->aux5, manual_control->aux6); } /** * @brief Encode a manual_control 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 manual_control C-struct to read the message contents from */ static inline uint16_t mavlink_msg_manual_control_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control) { return mavlink_msg_manual_control_pack_chan(system_id, component_id, chan, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons, manual_control->buttons2, manual_control->enabled_extensions, manual_control->s, manual_control->t, manual_control->aux1, manual_control->aux2, manual_control->aux3, manual_control->aux4, manual_control->aux5, manual_control->aux6); } /** * @brief Encode a manual_control struct with provided status structure * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param status MAVLink status structure * @param msg The MAVLink message to compress the data into * @param manual_control C-struct to read the message contents from */ static inline uint16_t mavlink_msg_manual_control_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_manual_control_t* manual_control) { return mavlink_msg_manual_control_pack_status(system_id, component_id, _status, msg, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons, manual_control->buttons2, manual_control->enabled_extensions, manual_control->s, manual_control->t, manual_control->aux1, manual_control->aux2, manual_control->aux3, manual_control->aux4, manual_control->aux5, manual_control->aux6); } /** * @brief Send a manual_control message * @param chan MAVLink channel to send the message * * @param target The system to be controlled. * @param x X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. * @param y Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. * @param z Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust. * @param r R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. * @param buttons A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. * @param buttons2 A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16. * @param enabled_extensions Set bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6 * @param s Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid. * @param t Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid. * @param aux1 Aux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset. * @param aux2 Aux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset. * @param aux3 Aux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset. * @param aux4 Aux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset. * @param aux5 Aux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset. * @param aux6 Aux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_manual_control_send(mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons, uint16_t buttons2, uint8_t enabled_extensions, int16_t s, int16_t t, int16_t aux1, int16_t aux2, int16_t aux3, int16_t aux4, int16_t aux5, int16_t aux6) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_MANUAL_CONTROL_LEN]; _mav_put_int16_t(buf, 0, x); _mav_put_int16_t(buf, 2, y); _mav_put_int16_t(buf, 4, z); _mav_put_int16_t(buf, 6, r); _mav_put_uint16_t(buf, 8, buttons); _mav_put_uint8_t(buf, 10, target); _mav_put_uint16_t(buf, 11, buttons2); _mav_put_uint8_t(buf, 13, enabled_extensions); _mav_put_int16_t(buf, 14, s); _mav_put_int16_t(buf, 16, t); _mav_put_int16_t(buf, 18, aux1); _mav_put_int16_t(buf, 20, aux2); _mav_put_int16_t(buf, 22, aux3); _mav_put_int16_t(buf, 24, aux4); _mav_put_int16_t(buf, 26, aux5); _mav_put_int16_t(buf, 28, aux6); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); #else mavlink_manual_control_t packet; packet.x = x; packet.y = y; packet.z = z; packet.r = r; packet.buttons = buttons; packet.target = target; packet.buttons2 = buttons2; packet.enabled_extensions = enabled_extensions; packet.s = s; packet.t = t; packet.aux1 = aux1; packet.aux2 = aux2; packet.aux3 = aux3; packet.aux4 = aux4; packet.aux5 = aux5; packet.aux6 = aux6; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)&packet, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); #endif } /** * @brief Send a manual_control message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_manual_control_send_struct(mavlink_channel_t chan, const mavlink_manual_control_t* manual_control) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_manual_control_send(chan, manual_control->target, manual_control->x, manual_control->y, manual_control->z, manual_control->r, manual_control->buttons, manual_control->buttons2, manual_control->enabled_extensions, manual_control->s, manual_control->t, manual_control->aux1, manual_control->aux2, manual_control->aux3, manual_control->aux4, manual_control->aux5, manual_control->aux6); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)manual_control, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); #endif } #if MAVLINK_MSG_ID_MANUAL_CONTROL_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_manual_control_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target, int16_t x, int16_t y, int16_t z, int16_t r, uint16_t buttons, uint16_t buttons2, uint8_t enabled_extensions, int16_t s, int16_t t, int16_t aux1, int16_t aux2, int16_t aux3, int16_t aux4, int16_t aux5, int16_t aux6) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_int16_t(buf, 0, x); _mav_put_int16_t(buf, 2, y); _mav_put_int16_t(buf, 4, z); _mav_put_int16_t(buf, 6, r); _mav_put_uint16_t(buf, 8, buttons); _mav_put_uint8_t(buf, 10, target); _mav_put_uint16_t(buf, 11, buttons2); _mav_put_uint8_t(buf, 13, enabled_extensions); _mav_put_int16_t(buf, 14, s); _mav_put_int16_t(buf, 16, t); _mav_put_int16_t(buf, 18, aux1); _mav_put_int16_t(buf, 20, aux2); _mav_put_int16_t(buf, 22, aux3); _mav_put_int16_t(buf, 24, aux4); _mav_put_int16_t(buf, 26, aux5); _mav_put_int16_t(buf, 28, aux6); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, buf, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); #else mavlink_manual_control_t *packet = (mavlink_manual_control_t *)msgbuf; packet->x = x; packet->y = y; packet->z = z; packet->r = r; packet->buttons = buttons; packet->target = target; packet->buttons2 = buttons2; packet->enabled_extensions = enabled_extensions; packet->s = s; packet->t = t; packet->aux1 = aux1; packet->aux2 = aux2; packet->aux3 = aux3; packet->aux4 = aux4; packet->aux5 = aux5; packet->aux6 = aux6; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MANUAL_CONTROL, (const char *)packet, MAVLINK_MSG_ID_MANUAL_CONTROL_MIN_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN, MAVLINK_MSG_ID_MANUAL_CONTROL_CRC); #endif } #endif #endif // MESSAGE MANUAL_CONTROL UNPACKING /** * @brief Get field target from manual_control message * * @return The system to be controlled. */ static inline uint8_t mavlink_msg_manual_control_get_target(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 10); } /** * @brief Get field x from manual_control message * * @return X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle. */ static inline int16_t mavlink_msg_manual_control_get_x(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 0); } /** * @brief Get field y from manual_control message * * @return Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle. */ static inline int16_t mavlink_msg_manual_control_get_y(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 2); } /** * @brief Get field z from manual_control message * * @return Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust. */ static inline int16_t mavlink_msg_manual_control_get_z(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 4); } /** * @brief Get field r from manual_control message * * @return R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle. */ static inline int16_t mavlink_msg_manual_control_get_r(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 6); } /** * @brief Get field buttons from manual_control message * * @return A bitfield corresponding to the joystick buttons' 0-15 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1. */ static inline uint16_t mavlink_msg_manual_control_get_buttons(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 8); } /** * @brief Get field buttons2 from manual_control message * * @return A bitfield corresponding to the joystick buttons' 16-31 current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 16. */ static inline uint16_t mavlink_msg_manual_control_get_buttons2(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 11); } /** * @brief Get field enabled_extensions from manual_control message * * @return Set bits to 1 to indicate which of the following extension fields contain valid data: bit 0: pitch, bit 1: roll, bit 2: aux1, bit 3: aux2, bit 4: aux3, bit 5: aux4, bit 6: aux5, bit 7: aux6 */ static inline uint8_t mavlink_msg_manual_control_get_enabled_extensions(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 13); } /** * @brief Get field s from manual_control message * * @return Pitch-only-axis, normalized to the range [-1000,1000]. Generally corresponds to pitch on vehicles with additional degrees of freedom. Valid if bit 0 of enabled_extensions field is set. Set to 0 if invalid. */ static inline int16_t mavlink_msg_manual_control_get_s(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 14); } /** * @brief Get field t from manual_control message * * @return Roll-only-axis, normalized to the range [-1000,1000]. Generally corresponds to roll on vehicles with additional degrees of freedom. Valid if bit 1 of enabled_extensions field is set. Set to 0 if invalid. */ static inline int16_t mavlink_msg_manual_control_get_t(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 16); } /** * @brief Get field aux1 from manual_control message * * @return Aux continuous input field 1. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 2 of enabled_extensions field is set. 0 if bit 2 is unset. */ static inline int16_t mavlink_msg_manual_control_get_aux1(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 18); } /** * @brief Get field aux2 from manual_control message * * @return Aux continuous input field 2. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 3 of enabled_extensions field is set. 0 if bit 3 is unset. */ static inline int16_t mavlink_msg_manual_control_get_aux2(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 20); } /** * @brief Get field aux3 from manual_control message * * @return Aux continuous input field 3. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 4 of enabled_extensions field is set. 0 if bit 4 is unset. */ static inline int16_t mavlink_msg_manual_control_get_aux3(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 22); } /** * @brief Get field aux4 from manual_control message * * @return Aux continuous input field 4. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 5 of enabled_extensions field is set. 0 if bit 5 is unset. */ static inline int16_t mavlink_msg_manual_control_get_aux4(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 24); } /** * @brief Get field aux5 from manual_control message * * @return Aux continuous input field 5. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 6 of enabled_extensions field is set. 0 if bit 6 is unset. */ static inline int16_t mavlink_msg_manual_control_get_aux5(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 26); } /** * @brief Get field aux6 from manual_control message * * @return Aux continuous input field 6. Normalized in the range [-1000,1000]. Purpose defined by recipient. Valid data if bit 7 of enabled_extensions field is set. 0 if bit 7 is unset. */ static inline int16_t mavlink_msg_manual_control_get_aux6(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 28); } /** * @brief Decode a manual_control message into a struct * * @param msg The message to decode * @param manual_control C-struct to decode the message contents into */ static inline void mavlink_msg_manual_control_decode(const mavlink_message_t* msg, mavlink_manual_control_t* manual_control) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS manual_control->x = mavlink_msg_manual_control_get_x(msg); manual_control->y = mavlink_msg_manual_control_get_y(msg); manual_control->z = mavlink_msg_manual_control_get_z(msg); manual_control->r = mavlink_msg_manual_control_get_r(msg); manual_control->buttons = mavlink_msg_manual_control_get_buttons(msg); manual_control->target = mavlink_msg_manual_control_get_target(msg); manual_control->buttons2 = mavlink_msg_manual_control_get_buttons2(msg); manual_control->enabled_extensions = mavlink_msg_manual_control_get_enabled_extensions(msg); manual_control->s = mavlink_msg_manual_control_get_s(msg); manual_control->t = mavlink_msg_manual_control_get_t(msg); manual_control->aux1 = mavlink_msg_manual_control_get_aux1(msg); manual_control->aux2 = mavlink_msg_manual_control_get_aux2(msg); manual_control->aux3 = mavlink_msg_manual_control_get_aux3(msg); manual_control->aux4 = mavlink_msg_manual_control_get_aux4(msg); manual_control->aux5 = mavlink_msg_manual_control_get_aux5(msg); manual_control->aux6 = mavlink_msg_manual_control_get_aux6(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_MANUAL_CONTROL_LEN? msg->len : MAVLINK_MSG_ID_MANUAL_CONTROL_LEN; memset(manual_control, 0, MAVLINK_MSG_ID_MANUAL_CONTROL_LEN); memcpy(manual_control, _MAV_PAYLOAD(msg), len); #endif }