msg_pid_tuning.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 PID_TUNING PACKING
package com.MAVLink.ardupilotmega;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* PID tuning information
*/
public class msg_pid_tuning extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_PID_TUNING = 194;
    public static final int MAVLINK_MSG_LENGTH = 25;
    private static final long serialVersionUID = MAVLINK_MSG_ID_PID_TUNING;


    
    /**
    * desired rate (degrees/s)
    */
    public float desired;
    
    /**
    * achieved rate (degrees/s)
    */
    public float achieved;
    
    /**
    * FF component
    */
    public float FF;
    
    /**
    * P component
    */
    public float P;
    
    /**
    * I component
    */
    public float I;
    
    /**
    * D component
    */
    public float D;
    
    /**
    * axis
    */
    public short axis;
    

    /**
    * 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_PID_TUNING;
        
        packet.payload.putFloat(desired);
        
        packet.payload.putFloat(achieved);
        
        packet.payload.putFloat(FF);
        
        packet.payload.putFloat(P);
        
        packet.payload.putFloat(I);
        
        packet.payload.putFloat(D);
        
        packet.payload.putUnsignedByte(axis);
        
        return packet;
    }

    /**
    * Decode a pid_tuning message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.desired = payload.getFloat();
        
        this.achieved = payload.getFloat();
        
        this.FF = payload.getFloat();
        
        this.P = payload.getFloat();
        
        this.I = payload.getFloat();
        
        this.D = payload.getFloat();
        
        this.axis = payload.getUnsignedByte();
        
    }

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

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

                  
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_PID_TUNING -"+" desired:"+desired+" achieved:"+achieved+" FF:"+FF+" P:"+P+" I:"+I+" D:"+D+" axis:"+axis+"";
    }
}