C++ (Cpp) mavlink_msg_set_position_target_local_ned_encode Exemples

Exemple #1

Fichier : autopilot_interface.cpp Projet : shxq0829/c_uart_interface_example

// ------------------------------------------------------------------------------
//   Write Setpoint Message
// ------------------------------------------------------------------------------
void
Autopilot_Interface::
write_setpoint()
{
	// --------------------------------------------------------------------------
	//   PACK PAYLOAD
	// --------------------------------------------------------------------------

	// pull from position target
	mavlink_set_position_target_local_ned_t sp = current_setpoint;

	// double check some system parameters
	if ( not sp.time_boot_ms )
		sp.time_boot_ms = (uint32_t) (get_time_usec()/1000);
	sp.target_system    = system_id;
	sp.target_component = autopilot_id;


	// --------------------------------------------------------------------------
	//   ENCODE
	// --------------------------------------------------------------------------

	mavlink_message_t message;
	mavlink_msg_set_position_target_local_ned_encode(system_id, companion_id, &message, &sp);


	// --------------------------------------------------------------------------
	//   WRITE
	// --------------------------------------------------------------------------

	// do the write
	int len = write_message(message);

	// check the write
	if ( len <= 0 )
		fprintf(stderr,"WARNING: could not send POSITION_TARGET_LOCAL_NED \n");
	//	else
	//		printf("%lu POSITION_TARGET  = [ %f , %f , %f ] \n", write_count, position_target.x, position_target.y, position_target.z);

	return;
}

Exemple #2

Fichier : MavlinkBridge.cpp Projet : helios57/D3Landing

uint16_t MavlinkBridge::sendMessage() {
	mavlink_msg_set_position_target_local_ned_encode(57, 57, &msg, &setpointAdjustment);
	uint16_t len = mavlink_msg_to_send_buffer(buf, &msg);
	write(bridge_tty_fd, &buf, len);
	return len;
}