void safety_set_allowed_area(
uint8_t coordinate_frame,
float p1x, float p1y, float p1z,
float p2x, float p2y, float p2z) {
mavlink_message_t msg;
mavlink_msg_safety_set_allowed_area_pack_chan(UAS_PACK_CHAN(uas), &msg,
UAS_PACK_TGT(uas),
coordinate_frame,
p1x, p1y, p1z,
p2x, p2y, p2z);
uas->mav_link->send_message(&msg);
}
bool set_rate_cb(mavros::StreamRate::Request &req,
mavros::StreamRate::Response &res) {
mavlink_message_t msg;
mavlink_msg_request_data_stream_pack_chan(UAS_PACK_CHAN(uas), &msg,
UAS_PACK_TGT(uas),
req.stream_id,
req.message_rate,
(req.on_off) ? 1 : 0
);
UAS_FCU(uas)->send_message(&msg);
return true;
}
//! message definiton here: @p https://pixhawk.ethz.ch/mavlink/#SET_ACTUATOR_CONTROL_TARGET
void set_actuator_control_target(const uint64_t time_usec,
const uint8_t group_mix,
const float controls[8])
{
mavlink_message_t msg;
mavlink_msg_set_actuator_control_target_pack_chan(UAS_PACK_CHAN(uas), &msg,
time_usec,
group_mix,
UAS_PACK_TGT(uas),
controls);
UAS_FCU(uas)->send_message(&msg);
}
void set_attitude_target(uint32_t time_boot_ms,
uint8_t type_mask,
float q[4],
float roll_rate, float pitch_rate, float yaw_rate,
float thrust) {
mavlink_message_t msg;
mavlink_msg_set_attitude_target_pack_chan(UAS_PACK_CHAN(uas), &msg,
time_boot_ms,
UAS_PACK_TGT(uas),
type_mask,
q,
roll_rate, pitch_rate, yaw_rate,
thrust);
uas->mav_link->send_message(&msg);
}
void command_long(uint16_t command, uint8_t confirmation,
float param1, float param2,
float param3, float param4,
float param5, float param6,
float param7) {
mavlink_message_t msg;
mavlink_msg_command_long_pack_chan(UAS_PACK_CHAN(uas), &msg,
UAS_PACK_TGT(uas),
command,
confirmation,
param1,
param2,
param3,
param4,
param5,
param6,
param7);
uas->mav_link->send_message(&msg);
}
