msg_attitude_target.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 ATTITUDE_TARGET PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* Set the vehicle attitude and body angular rates.
*/
public class msg_attitude_target extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_ATTITUDE_TARGET = 83;
    public static final int MAVLINK_MSG_LENGTH = 37;
    private static final long serialVersionUID = MAVLINK_MSG_ID_ATTITUDE_TARGET;


    
    /**
    * Timestamp in milliseconds since system boot
    */
    public long time_boot_ms;
    
    /**
    * Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
    */
    public float q[] = new float[4];
    
    /**
    * Body roll rate in radians per second
    */
    public float body_roll_rate;
    
    /**
    * Body roll rate in radians per second
    */
    public float body_pitch_rate;
    
    /**
    * Body roll rate in radians per second
    */
    public float body_yaw_rate;
    
    /**
    * Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
    */
    public float thrust;
    
    /**
    * Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
    */
    public short type_mask;
    

    /**
    * 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_ATTITUDE_TARGET;
        
        packet.payload.putUnsignedInt(time_boot_ms);
        
        
        for (int i = 0; i < q.length; i++) {
            packet.payload.putFloat(q[i]);
        }
                    
        
        packet.payload.putFloat(body_roll_rate);
        
        packet.payload.putFloat(body_pitch_rate);
        
        packet.payload.putFloat(body_yaw_rate);
        
        packet.payload.putFloat(thrust);
        
        packet.payload.putUnsignedByte(type_mask);
        
        return packet;
    }

    /**
    * Decode a attitude_target message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_boot_ms = payload.getUnsignedInt();
        
        
        for (int i = 0; i < this.q.length; i++) {
            this.q[i] = payload.getFloat();
        }
                
        
        this.body_roll_rate = payload.getFloat();
        
        this.body_pitch_rate = payload.getFloat();
        
        this.body_yaw_rate = payload.getFloat();
        
        this.thrust = payload.getFloat();
        
        this.type_mask = payload.getUnsignedByte();
        
    }

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

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

                  
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_ATTITUDE_TARGET -"+" time_boot_ms:"+time_boot_ms+" q:"+q+" body_roll_rate:"+body_roll_rate+" body_pitch_rate:"+body_pitch_rate+" body_yaw_rate:"+body_yaw_rate+" thrust:"+thrust+" type_mask:"+type_mask+"";
    }
}