msg_set_actuator_control_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 SET_ACTUATOR_CONTROL_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_set_actuator_control_target extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET = 139;
    public static final int MAVLINK_MSG_LENGTH = 43;
    private static final long serialVersionUID = MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET;


    
    /**
    * Timestamp (micros since boot or Unix epoch)
    */
    public long time_usec;
    
    /**
    * Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
    */
    public float controls[] = new float[8];
    
    /**
    * Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
    */
    public short group_mlx;
    
    /**
    * System ID
    */
    public short target_system;
    
    /**
    * Component ID
    */
    public short target_component;
    

    /**
    * 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_SET_ACTUATOR_CONTROL_TARGET;
        
        packet.payload.putUnsignedLong(time_usec);
        
        
        for (int i = 0; i < controls.length; i++) {
            packet.payload.putFloat(controls[i]);
        }
                    
        
        packet.payload.putUnsignedByte(group_mlx);
        
        packet.payload.putUnsignedByte(target_system);
        
        packet.payload.putUnsignedByte(target_component);
        
        return packet;
    }

    /**
    * Decode a set_actuator_control_target message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_usec = payload.getUnsignedLong();
        
        
        for (int i = 0; i < this.controls.length; i++) {
            this.controls[i] = payload.getFloat();
        }
                
        
        this.group_mlx = payload.getUnsignedByte();
        
        this.target_system = payload.getUnsignedByte();
        
        this.target_component = payload.getUnsignedByte();
        
    }

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

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

              
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET -"+" time_usec:"+time_usec+" controls:"+controls+" group_mlx:"+group_mlx+" target_system:"+target_system+" target_component:"+target_component+"";
    }
}