PX4BuildBot
373 lines
19 KiB
C
373 lines
19 KiB
C
#pragma once
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// MESSAGE SET_VELOCITY_LIMITS PACKING
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#define MAVLINK_MSG_ID_SET_VELOCITY_LIMITS 354
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typedef struct __mavlink_set_velocity_limits_t {
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float horizontal_speed_limit; /*< [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)*/
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float vertical_speed_limit; /*< [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)*/
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float yaw_rate_limit; /*< [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)*/
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uint8_t target_system; /*< System ID (0 for broadcast).*/
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uint8_t target_component; /*< Component ID (0 for broadcast).*/
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} mavlink_set_velocity_limits_t;
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#define MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN 14
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#define MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_MIN_LEN 14
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#define MAVLINK_MSG_ID_354_LEN 14
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#define MAVLINK_MSG_ID_354_MIN_LEN 14
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#define MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_CRC 210
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#define MAVLINK_MSG_ID_354_CRC 210
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_SET_VELOCITY_LIMITS { \
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354, \
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"SET_VELOCITY_LIMITS", \
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5, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_set_velocity_limits_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_set_velocity_limits_t, target_component) }, \
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{ "horizontal_speed_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_velocity_limits_t, horizontal_speed_limit) }, \
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{ "vertical_speed_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_velocity_limits_t, vertical_speed_limit) }, \
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{ "yaw_rate_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_velocity_limits_t, yaw_rate_limit) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_SET_VELOCITY_LIMITS { \
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"SET_VELOCITY_LIMITS", \
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5, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_set_velocity_limits_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_set_velocity_limits_t, target_component) }, \
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{ "horizontal_speed_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_set_velocity_limits_t, horizontal_speed_limit) }, \
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{ "vertical_speed_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_set_velocity_limits_t, vertical_speed_limit) }, \
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{ "yaw_rate_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_set_velocity_limits_t, yaw_rate_limit) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a set_velocity_limits 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 target_system System ID (0 for broadcast).
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* @param target_component Component ID (0 for broadcast).
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* @param horizontal_speed_limit [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
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* @param vertical_speed_limit [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
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* @param yaw_rate_limit [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)
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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_set_velocity_limits_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, float horizontal_speed_limit, float vertical_speed_limit, float yaw_rate_limit)
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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_SET_VELOCITY_LIMITS_LEN];
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_mav_put_float(buf, 0, horizontal_speed_limit);
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_mav_put_float(buf, 4, vertical_speed_limit);
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_mav_put_float(buf, 8, yaw_rate_limit);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN);
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#else
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mavlink_set_velocity_limits_t packet;
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packet.horizontal_speed_limit = horizontal_speed_limit;
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packet.vertical_speed_limit = vertical_speed_limit;
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packet.yaw_rate_limit = yaw_rate_limit;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_VELOCITY_LIMITS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_CRC);
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}
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/**
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* @brief Pack a set_velocity_limits 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 status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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*
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* @param target_system System ID (0 for broadcast).
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* @param target_component Component ID (0 for broadcast).
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* @param horizontal_speed_limit [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
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* @param vertical_speed_limit [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
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* @param yaw_rate_limit [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)
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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_set_velocity_limits_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
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uint8_t target_system, uint8_t target_component, float horizontal_speed_limit, float vertical_speed_limit, float yaw_rate_limit)
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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_SET_VELOCITY_LIMITS_LEN];
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_mav_put_float(buf, 0, horizontal_speed_limit);
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_mav_put_float(buf, 4, vertical_speed_limit);
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_mav_put_float(buf, 8, yaw_rate_limit);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN);
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#else
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mavlink_set_velocity_limits_t packet;
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packet.horizontal_speed_limit = horizontal_speed_limit;
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packet.vertical_speed_limit = vertical_speed_limit;
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packet.yaw_rate_limit = yaw_rate_limit;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_VELOCITY_LIMITS;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_CRC);
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#else
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN);
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#endif
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}
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/**
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* @brief Pack a set_velocity_limits 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 target_system System ID (0 for broadcast).
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* @param target_component Component ID (0 for broadcast).
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* @param horizontal_speed_limit [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
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* @param vertical_speed_limit [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
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* @param yaw_rate_limit [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)
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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_set_velocity_limits_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 target_system,uint8_t target_component,float horizontal_speed_limit,float vertical_speed_limit,float yaw_rate_limit)
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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_SET_VELOCITY_LIMITS_LEN];
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_mav_put_float(buf, 0, horizontal_speed_limit);
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_mav_put_float(buf, 4, vertical_speed_limit);
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_mav_put_float(buf, 8, yaw_rate_limit);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN);
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#else
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mavlink_set_velocity_limits_t packet;
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packet.horizontal_speed_limit = horizontal_speed_limit;
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packet.vertical_speed_limit = vertical_speed_limit;
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packet.yaw_rate_limit = yaw_rate_limit;
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packet.target_system = target_system;
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packet.target_component = target_component;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_VELOCITY_LIMITS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_CRC);
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}
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/**
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* @brief Encode a set_velocity_limits struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param set_velocity_limits C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_set_velocity_limits_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_velocity_limits_t* set_velocity_limits)
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{
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return mavlink_msg_set_velocity_limits_pack(system_id, component_id, msg, set_velocity_limits->target_system, set_velocity_limits->target_component, set_velocity_limits->horizontal_speed_limit, set_velocity_limits->vertical_speed_limit, set_velocity_limits->yaw_rate_limit);
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}
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/**
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* @brief Encode a set_velocity_limits struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param 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 set_velocity_limits C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_set_velocity_limits_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_velocity_limits_t* set_velocity_limits)
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{
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return mavlink_msg_set_velocity_limits_pack_chan(system_id, component_id, chan, msg, set_velocity_limits->target_system, set_velocity_limits->target_component, set_velocity_limits->horizontal_speed_limit, set_velocity_limits->vertical_speed_limit, set_velocity_limits->yaw_rate_limit);
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}
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/**
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* @brief Encode a set_velocity_limits struct with provided status structure
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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* @param set_velocity_limits C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_set_velocity_limits_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_set_velocity_limits_t* set_velocity_limits)
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{
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return mavlink_msg_set_velocity_limits_pack_status(system_id, component_id, _status, msg, set_velocity_limits->target_system, set_velocity_limits->target_component, set_velocity_limits->horizontal_speed_limit, set_velocity_limits->vertical_speed_limit, set_velocity_limits->yaw_rate_limit);
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}
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/**
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* @brief Send a set_velocity_limits message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID (0 for broadcast).
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* @param target_component Component ID (0 for broadcast).
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* @param horizontal_speed_limit [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
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* @param vertical_speed_limit [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
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* @param yaw_rate_limit [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_set_velocity_limits_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float horizontal_speed_limit, float vertical_speed_limit, float yaw_rate_limit)
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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_SET_VELOCITY_LIMITS_LEN];
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_mav_put_float(buf, 0, horizontal_speed_limit);
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_mav_put_float(buf, 4, vertical_speed_limit);
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_mav_put_float(buf, 8, yaw_rate_limit);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS, buf, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_CRC);
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#else
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mavlink_set_velocity_limits_t packet;
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packet.horizontal_speed_limit = horizontal_speed_limit;
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packet.vertical_speed_limit = vertical_speed_limit;
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packet.yaw_rate_limit = yaw_rate_limit;
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packet.target_system = target_system;
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packet.target_component = target_component;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS, (const char *)&packet, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_CRC);
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#endif
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}
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/**
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* @brief Send a set_velocity_limits message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_set_velocity_limits_send_struct(mavlink_channel_t chan, const mavlink_set_velocity_limits_t* set_velocity_limits)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_set_velocity_limits_send(chan, set_velocity_limits->target_system, set_velocity_limits->target_component, set_velocity_limits->horizontal_speed_limit, set_velocity_limits->vertical_speed_limit, set_velocity_limits->yaw_rate_limit);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS, (const char *)set_velocity_limits, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This variant of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_set_velocity_limits_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, float horizontal_speed_limit, float vertical_speed_limit, float yaw_rate_limit)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_float(buf, 0, horizontal_speed_limit);
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_mav_put_float(buf, 4, vertical_speed_limit);
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_mav_put_float(buf, 8, yaw_rate_limit);
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_mav_put_uint8_t(buf, 12, target_system);
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_mav_put_uint8_t(buf, 13, target_component);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS, buf, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_CRC);
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#else
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mavlink_set_velocity_limits_t *packet = (mavlink_set_velocity_limits_t *)msgbuf;
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packet->horizontal_speed_limit = horizontal_speed_limit;
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packet->vertical_speed_limit = vertical_speed_limit;
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packet->yaw_rate_limit = yaw_rate_limit;
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packet->target_system = target_system;
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packet->target_component = target_component;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS, (const char *)packet, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE SET_VELOCITY_LIMITS UNPACKING
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/**
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* @brief Get field target_system from set_velocity_limits message
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*
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* @return System ID (0 for broadcast).
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*/
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static inline uint8_t mavlink_msg_set_velocity_limits_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 12);
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}
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/**
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* @brief Get field target_component from set_velocity_limits message
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*
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* @return Component ID (0 for broadcast).
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*/
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static inline uint8_t mavlink_msg_set_velocity_limits_get_target_component(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 13);
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}
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/**
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* @brief Get field horizontal_speed_limit from set_velocity_limits message
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*
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* @return [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
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*/
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static inline float mavlink_msg_set_velocity_limits_get_horizontal_speed_limit(const mavlink_message_t* msg)
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|
{
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|
return _MAV_RETURN_float(msg, 0);
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|
}
|
|
|
|
/**
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|
* @brief Get field vertical_speed_limit from set_velocity_limits message
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*
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* @return [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: Field not used (ignore)
|
|
*/
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|
static inline float mavlink_msg_set_velocity_limits_get_vertical_speed_limit(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field yaw_rate_limit from set_velocity_limits message
|
|
*
|
|
* @return [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: Field not used (ignore)
|
|
*/
|
|
static inline float mavlink_msg_set_velocity_limits_get_yaw_rate_limit(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a set_velocity_limits message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param set_velocity_limits C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_set_velocity_limits_decode(const mavlink_message_t* msg, mavlink_set_velocity_limits_t* set_velocity_limits)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
set_velocity_limits->horizontal_speed_limit = mavlink_msg_set_velocity_limits_get_horizontal_speed_limit(msg);
|
|
set_velocity_limits->vertical_speed_limit = mavlink_msg_set_velocity_limits_get_vertical_speed_limit(msg);
|
|
set_velocity_limits->yaw_rate_limit = mavlink_msg_set_velocity_limits_get_yaw_rate_limit(msg);
|
|
set_velocity_limits->target_system = mavlink_msg_set_velocity_limits_get_target_system(msg);
|
|
set_velocity_limits->target_component = mavlink_msg_set_velocity_limits_get_target_component(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN? msg->len : MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN;
|
|
memset(set_velocity_limits, 0, MAVLINK_MSG_ID_SET_VELOCITY_LIMITS_LEN);
|
|
memcpy(set_velocity_limits, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|