msg_hil_controls.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 HIL_CONTROLS PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* Sent from autopilot to simulation. Hardware in the loop control outputs
*/
public class msg_hil_controls extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_HIL_CONTROLS = 91;
    public static final int MAVLINK_MSG_LENGTH = 42;
    private static final long serialVersionUID = MAVLINK_MSG_ID_HIL_CONTROLS;


    
    /**
    * Timestamp (microseconds since UNIX epoch or microseconds since system boot)
    */
    public long time_usec;
    
    /**
    * Control output -1 .. 1
    */
    public float roll_ailerons;
    
    /**
    * Control output -1 .. 1
    */
    public float pitch_elevator;
    
    /**
    * Control output -1 .. 1
    */
    public float yaw_rudder;
    
    /**
    * Throttle 0 .. 1
    */
    public float throttle;
    
    /**
    * Aux 1, -1 .. 1
    */
    public float aux1;
    
    /**
    * Aux 2, -1 .. 1
    */
    public float aux2;
    
    /**
    * Aux 3, -1 .. 1
    */
    public float aux3;
    
    /**
    * Aux 4, -1 .. 1
    */
    public float aux4;
    
    /**
    * System mode (MAV_MODE)
    */
    public short mode;
    
    /**
    * Navigation mode (MAV_NAV_MODE)
    */
    public short nav_mode;
    

    /**
    * 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_HIL_CONTROLS;
        
        packet.payload.putUnsignedLong(time_usec);
        
        packet.payload.putFloat(roll_ailerons);
        
        packet.payload.putFloat(pitch_elevator);
        
        packet.payload.putFloat(yaw_rudder);
        
        packet.payload.putFloat(throttle);
        
        packet.payload.putFloat(aux1);
        
        packet.payload.putFloat(aux2);
        
        packet.payload.putFloat(aux3);
        
        packet.payload.putFloat(aux4);
        
        packet.payload.putUnsignedByte(mode);
        
        packet.payload.putUnsignedByte(nav_mode);
        
        return packet;
    }

    /**
    * Decode a hil_controls message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_usec = payload.getUnsignedLong();
        
        this.roll_ailerons = payload.getFloat();
        
        this.pitch_elevator = payload.getFloat();
        
        this.yaw_rudder = payload.getFloat();
        
        this.throttle = payload.getFloat();
        
        this.aux1 = payload.getFloat();
        
        this.aux2 = payload.getFloat();
        
        this.aux3 = payload.getFloat();
        
        this.aux4 = payload.getFloat();
        
        this.mode = payload.getUnsignedByte();
        
        this.nav_mode = payload.getUnsignedByte();
        
    }

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

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

                          
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_HIL_CONTROLS -"+" time_usec:"+time_usec+" roll_ailerons:"+roll_ailerons+" pitch_elevator:"+pitch_elevator+" yaw_rudder:"+yaw_rudder+" throttle:"+throttle+" aux1:"+aux1+" aux2:"+aux2+" aux3:"+aux3+" aux4:"+aux4+" mode:"+mode+" nav_mode:"+nav_mode+"";
    }
}