PX4BuildBot
317 lines
15 KiB
C
317 lines
15 KiB
C
#pragma once
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// MESSAGE VELOCITY_LIMITS PACKING
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#define MAVLINK_MSG_ID_VELOCITY_LIMITS 355
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typedef struct __mavlink_velocity_limits_t {
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float horizontal_speed_limit; /*< [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied*/
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float vertical_speed_limit; /*< [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied*/
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float yaw_rate_limit; /*< [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: No limit applied*/
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} mavlink_velocity_limits_t;
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#define MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN 12
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#define MAVLINK_MSG_ID_VELOCITY_LIMITS_MIN_LEN 12
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#define MAVLINK_MSG_ID_355_LEN 12
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#define MAVLINK_MSG_ID_355_MIN_LEN 12
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#define MAVLINK_MSG_ID_VELOCITY_LIMITS_CRC 6
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#define MAVLINK_MSG_ID_355_CRC 6
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_VELOCITY_LIMITS { \
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355, \
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"VELOCITY_LIMITS", \
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3, \
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{ { "horizontal_speed_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_velocity_limits_t, horizontal_speed_limit) }, \
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{ "vertical_speed_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_velocity_limits_t, vertical_speed_limit) }, \
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{ "yaw_rate_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_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_VELOCITY_LIMITS { \
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"VELOCITY_LIMITS", \
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3, \
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{ { "horizontal_speed_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_velocity_limits_t, horizontal_speed_limit) }, \
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{ "vertical_speed_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_velocity_limits_t, vertical_speed_limit) }, \
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{ "yaw_rate_limit", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_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 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 horizontal_speed_limit [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
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* @param vertical_speed_limit [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
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* @param yaw_rate_limit [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: No limit applied
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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_velocity_limits_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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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_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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN);
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#else
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mavlink_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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_VELOCITY_LIMITS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_CRC);
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}
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/**
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* @brief Pack a 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 horizontal_speed_limit [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
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* @param vertical_speed_limit [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
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* @param yaw_rate_limit [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: No limit applied
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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_velocity_limits_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
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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_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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN);
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#else
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mavlink_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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_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_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_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_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN);
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#endif
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}
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/**
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* @brief Pack a 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 horizontal_speed_limit [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
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* @param vertical_speed_limit [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
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* @param yaw_rate_limit [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: No limit applied
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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_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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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_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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN);
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#else
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mavlink_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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_VELOCITY_LIMITS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_CRC);
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}
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/**
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* @brief Encode a 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 velocity_limits C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_velocity_limits_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_velocity_limits_t* velocity_limits)
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{
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return mavlink_msg_velocity_limits_pack(system_id, component_id, msg, velocity_limits->horizontal_speed_limit, velocity_limits->vertical_speed_limit, velocity_limits->yaw_rate_limit);
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}
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/**
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* @brief Encode a 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 velocity_limits C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_velocity_limits_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_velocity_limits_t* velocity_limits)
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{
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return mavlink_msg_velocity_limits_pack_chan(system_id, component_id, chan, msg, velocity_limits->horizontal_speed_limit, velocity_limits->vertical_speed_limit, velocity_limits->yaw_rate_limit);
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}
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/**
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* @brief Encode a 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 velocity_limits C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_velocity_limits_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_velocity_limits_t* velocity_limits)
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{
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return mavlink_msg_velocity_limits_pack_status(system_id, component_id, _status, msg, velocity_limits->horizontal_speed_limit, velocity_limits->vertical_speed_limit, velocity_limits->yaw_rate_limit);
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}
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/**
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* @brief Send a velocity_limits message
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* @param chan MAVLink channel to send the message
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*
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* @param horizontal_speed_limit [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
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* @param vertical_speed_limit [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
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* @param yaw_rate_limit [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: No limit applied
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_velocity_limits_send(mavlink_channel_t chan, 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_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_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VELOCITY_LIMITS, buf, MAVLINK_MSG_ID_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_CRC);
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#else
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mavlink_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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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VELOCITY_LIMITS, (const char *)&packet, MAVLINK_MSG_ID_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_CRC);
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#endif
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}
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/**
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* @brief Send a 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_velocity_limits_send_struct(mavlink_channel_t chan, const mavlink_velocity_limits_t* velocity_limits)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_velocity_limits_send(chan, velocity_limits->horizontal_speed_limit, velocity_limits->vertical_speed_limit, velocity_limits->yaw_rate_limit);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VELOCITY_LIMITS, (const char *)velocity_limits, MAVLINK_MSG_ID_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_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_velocity_limits_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, 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_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VELOCITY_LIMITS, buf, MAVLINK_MSG_ID_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_CRC);
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#else
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mavlink_velocity_limits_t *packet = (mavlink_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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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VELOCITY_LIMITS, (const char *)packet, MAVLINK_MSG_ID_VELOCITY_LIMITS_MIN_LEN, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN, MAVLINK_MSG_ID_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 VELOCITY_LIMITS UNPACKING
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/**
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* @brief Get field horizontal_speed_limit from velocity_limits message
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*
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* @return [m/s] Limit for horizontal movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
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*/
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static inline float mavlink_msg_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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/**
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* @brief Get field vertical_speed_limit from velocity_limits message
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*
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* @return [m/s] Limit for vertical movement in MAV_FRAME_LOCAL_NED. NaN: No limit applied
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*/
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static inline float mavlink_msg_velocity_limits_get_vertical_speed_limit(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field yaw_rate_limit from velocity_limits message
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*
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* @return [rad/s] Limit for vehicle turn rate around its yaw axis. NaN: No limit applied
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*/
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static inline float mavlink_msg_velocity_limits_get_yaw_rate_limit(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Decode a velocity_limits message into a struct
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*
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* @param msg The message to decode
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* @param velocity_limits C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_velocity_limits_decode(const mavlink_message_t* msg, mavlink_velocity_limits_t* velocity_limits)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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velocity_limits->horizontal_speed_limit = mavlink_msg_velocity_limits_get_horizontal_speed_limit(msg);
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velocity_limits->vertical_speed_limit = mavlink_msg_velocity_limits_get_vertical_speed_limit(msg);
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velocity_limits->yaw_rate_limit = mavlink_msg_velocity_limits_get_yaw_rate_limit(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN? msg->len : MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN;
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memset(velocity_limits, 0, MAVLINK_MSG_ID_VELOCITY_LIMITS_LEN);
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memcpy(velocity_limits, _MAV_PAYLOAD(msg), len);
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#endif
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}
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