msg_limits_status.java

/* AUTO-GENERATED FILE.  DO NOT MODIFY.
 *
 * This class was automatically generated by the
 * java mavlink generator tool. It should not be modified by hand.
 */

// MESSAGE LIMITS_STATUS PACKING
package com.MAVLink.ardupilotmega;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* Status of AP_Limits. Sent in extended
      status stream when AP_Limits is enabled
*/
public class msg_limits_status extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_LIMITS_STATUS = 167;
    public static final int MAVLINK_MSG_LENGTH = 22;
    private static final long serialVersionUID = MAVLINK_MSG_ID_LIMITS_STATUS;


    
    /**
    * time of last breach in milliseconds since boot
    */
    public long last_trigger;
    
    /**
    * time of last recovery action in milliseconds since boot
    */
    public long last_action;
    
    /**
    * time of last successful recovery in milliseconds since boot
    */
    public long last_recovery;
    
    /**
    * time of last all-clear in milliseconds since boot
    */
    public long last_clear;
    
    /**
    * number of fence breaches
    */
    public int breach_count;
    
    /**
    * state of AP_Limits, (see enum LimitState, LIMITS_STATE)
    */
    public short limits_state;
    
    /**
    * AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
    */
    public short mods_enabled;
    
    /**
    * AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
    */
    public short mods_required;
    
    /**
    * AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
    */
    public short mods_triggered;
    

    /**
    * Generates the payload for a mavlink message for a message of this type
    * @return
    */
    public MAVLinkPacket pack(){
        MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
        packet.sysid = 255;
        packet.compid = 190;
        packet.msgid = MAVLINK_MSG_ID_LIMITS_STATUS;
        
        packet.payload.putUnsignedInt(last_trigger);
        
        packet.payload.putUnsignedInt(last_action);
        
        packet.payload.putUnsignedInt(last_recovery);
        
        packet.payload.putUnsignedInt(last_clear);
        
        packet.payload.putUnsignedShort(breach_count);
        
        packet.payload.putUnsignedByte(limits_state);
        
        packet.payload.putUnsignedByte(mods_enabled);
        
        packet.payload.putUnsignedByte(mods_required);
        
        packet.payload.putUnsignedByte(mods_triggered);
        
        return packet;
    }

    /**
    * Decode a limits_status message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.last_trigger = payload.getUnsignedInt();
        
        this.last_action = payload.getUnsignedInt();
        
        this.last_recovery = payload.getUnsignedInt();
        
        this.last_clear = payload.getUnsignedInt();
        
        this.breach_count = payload.getUnsignedShort();
        
        this.limits_state = payload.getUnsignedByte();
        
        this.mods_enabled = payload.getUnsignedByte();
        
        this.mods_required = payload.getUnsignedByte();
        
        this.mods_triggered = payload.getUnsignedByte();
        
    }

    /**
    * Constructor for a new message, just initializes the msgid
    */
    public msg_limits_status(){
        msgid = MAVLINK_MSG_ID_LIMITS_STATUS;
    }

    /**
    * Constructor for a new message, initializes the message with the payload
    * from a mavlink packet
    *
    */
    public msg_limits_status(MAVLinkPacket mavLinkPacket){
        this.sysid = mavLinkPacket.sysid;
        this.compid = mavLinkPacket.compid;
        this.msgid = MAVLINK_MSG_ID_LIMITS_STATUS;
        unpack(mavLinkPacket.payload);
    }

                      
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_LIMITS_STATUS -"+" last_trigger:"+last_trigger+" last_action:"+last_action+" last_recovery:"+last_recovery+" last_clear:"+last_clear+" breach_count:"+breach_count+" limits_state:"+limits_state+" mods_enabled:"+mods_enabled+" mods_required:"+mods_required+" mods_triggered:"+mods_triggered+"";
    }
}