562 lines
24 KiB
C
562 lines
24 KiB
C
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// MESSAGE HIL_STATE_QUATERNION PACKING
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#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION 115
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typedef struct __mavlink_hil_state_quaternion_t
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{
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uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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float attitude_quaternion[4]; ///< Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
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float rollspeed; ///< Body frame roll / phi angular speed (rad/s)
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float pitchspeed; ///< Body frame pitch / theta angular speed (rad/s)
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float yawspeed; ///< Body frame yaw / psi angular speed (rad/s)
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int32_t lat; ///< Latitude, expressed as * 1E7
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int32_t lon; ///< Longitude, expressed as * 1E7
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int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
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int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
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int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
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int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
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uint16_t ind_airspeed; ///< Indicated airspeed, expressed as m/s * 100
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uint16_t true_airspeed; ///< True airspeed, expressed as m/s * 100
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int16_t xacc; ///< X acceleration (mg)
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int16_t yacc; ///< Y acceleration (mg)
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int16_t zacc; ///< Z acceleration (mg)
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} mavlink_hil_state_quaternion_t;
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#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN 64
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#define MAVLINK_MSG_ID_115_LEN 64
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#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC 4
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#define MAVLINK_MSG_ID_115_CRC 4
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#define MAVLINK_MSG_HIL_STATE_QUATERNION_FIELD_ATTITUDE_QUATERNION_LEN 4
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#define MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION { \
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"HIL_STATE_QUATERNION", \
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16, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \
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{ "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \
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{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \
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{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \
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{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \
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{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \
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{ "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \
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{ "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \
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{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \
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{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \
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{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_t, zacc) }, \
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} \
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}
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/**
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* @brief Pack a hil_state_quaternion message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
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* @param rollspeed Body frame roll / phi angular speed (rad/s)
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* @param pitchspeed Body frame pitch / theta angular speed (rad/s)
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* @param yawspeed Body frame yaw / psi angular speed (rad/s)
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* @param lat Latitude, expressed as * 1E7
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* @param lon Longitude, expressed as * 1E7
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* @param alt Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
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* @param ind_airspeed Indicated airspeed, expressed as m/s * 100
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* @param true_airspeed True airspeed, expressed as m/s * 100
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* @param xacc X acceleration (mg)
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* @param yacc Y acceleration (mg)
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* @param zacc Z acceleration (mg)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_hil_state_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 24, rollspeed);
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_mav_put_float(buf, 28, pitchspeed);
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_mav_put_float(buf, 32, yawspeed);
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_mav_put_int32_t(buf, 36, lat);
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_mav_put_int32_t(buf, 40, lon);
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_mav_put_int32_t(buf, 44, alt);
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_mav_put_int16_t(buf, 48, vx);
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_mav_put_int16_t(buf, 50, vy);
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_mav_put_int16_t(buf, 52, vz);
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_mav_put_uint16_t(buf, 54, ind_airspeed);
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_mav_put_uint16_t(buf, 56, true_airspeed);
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_mav_put_int16_t(buf, 58, xacc);
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_mav_put_int16_t(buf, 60, yacc);
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_mav_put_int16_t(buf, 62, zacc);
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_mav_put_float_array(buf, 8, attitude_quaternion, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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#else
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mavlink_hil_state_quaternion_t packet;
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packet.time_usec = time_usec;
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packet.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.ind_airspeed = ind_airspeed;
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packet.true_airspeed = true_airspeed;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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#endif
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}
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/**
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* @brief Pack a hil_state_quaternion message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
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* @param rollspeed Body frame roll / phi angular speed (rad/s)
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* @param pitchspeed Body frame pitch / theta angular speed (rad/s)
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* @param yawspeed Body frame yaw / psi angular speed (rad/s)
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* @param lat Latitude, expressed as * 1E7
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* @param lon Longitude, expressed as * 1E7
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* @param alt Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
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* @param ind_airspeed Indicated airspeed, expressed as m/s * 100
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* @param true_airspeed True airspeed, expressed as m/s * 100
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* @param xacc X acceleration (mg)
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* @param yacc Y acceleration (mg)
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* @param zacc Z acceleration (mg)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_hil_state_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t time_usec,const float *attitude_quaternion,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,uint16_t ind_airspeed,uint16_t true_airspeed,int16_t xacc,int16_t yacc,int16_t zacc)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 24, rollspeed);
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_mav_put_float(buf, 28, pitchspeed);
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_mav_put_float(buf, 32, yawspeed);
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_mav_put_int32_t(buf, 36, lat);
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_mav_put_int32_t(buf, 40, lon);
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_mav_put_int32_t(buf, 44, alt);
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_mav_put_int16_t(buf, 48, vx);
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_mav_put_int16_t(buf, 50, vy);
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_mav_put_int16_t(buf, 52, vz);
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_mav_put_uint16_t(buf, 54, ind_airspeed);
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_mav_put_uint16_t(buf, 56, true_airspeed);
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_mav_put_int16_t(buf, 58, xacc);
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_mav_put_int16_t(buf, 60, yacc);
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_mav_put_int16_t(buf, 62, zacc);
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_mav_put_float_array(buf, 8, attitude_quaternion, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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#else
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mavlink_hil_state_quaternion_t packet;
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packet.time_usec = time_usec;
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packet.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.ind_airspeed = ind_airspeed;
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packet.true_airspeed = true_airspeed;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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#endif
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}
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/**
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* @brief Encode a hil_state_quaternion struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param hil_state_quaternion C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_hil_state_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
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{
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return mavlink_msg_hil_state_quaternion_pack(system_id, component_id, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
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}
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/**
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* @brief Encode a hil_state_quaternion struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param hil_state_quaternion C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_hil_state_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
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{
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return mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, chan, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
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}
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/**
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* @brief Send a hil_state_quaternion message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
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* @param rollspeed Body frame roll / phi angular speed (rad/s)
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* @param pitchspeed Body frame pitch / theta angular speed (rad/s)
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* @param yawspeed Body frame yaw / psi angular speed (rad/s)
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* @param lat Latitude, expressed as * 1E7
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* @param lon Longitude, expressed as * 1E7
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* @param alt Altitude in meters, expressed as * 1000 (millimeters)
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||
|
|
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
|
||
|
|
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
|
||
|
|
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
|
||
|
|
* @param ind_airspeed Indicated airspeed, expressed as m/s * 100
|
||
|
|
* @param true_airspeed True airspeed, expressed as m/s * 100
|
||
|
|
* @param xacc X acceleration (mg)
|
||
|
|
* @param yacc Y acceleration (mg)
|
||
|
|
* @param zacc Z acceleration (mg)
|
||
|
|
*/
|
||
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||
|
|
|
||
|
|
static inline void mavlink_msg_hil_state_quaternion_send(mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
|
||
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
||
|
|
_mav_put_float(buf, 24, rollspeed);
|
||
|
|
_mav_put_float(buf, 28, pitchspeed);
|
||
|
|
_mav_put_float(buf, 32, yawspeed);
|
||
|
|
_mav_put_int32_t(buf, 36, lat);
|
||
|
|
_mav_put_int32_t(buf, 40, lon);
|
||
|
|
_mav_put_int32_t(buf, 44, alt);
|
||
|
|
_mav_put_int16_t(buf, 48, vx);
|
||
|
|
_mav_put_int16_t(buf, 50, vy);
|
||
|
|
_mav_put_int16_t(buf, 52, vz);
|
||
|
|
_mav_put_uint16_t(buf, 54, ind_airspeed);
|
||
|
|
_mav_put_uint16_t(buf, 56, true_airspeed);
|
||
|
|
_mav_put_int16_t(buf, 58, xacc);
|
||
|
|
_mav_put_int16_t(buf, 60, yacc);
|
||
|
|
_mav_put_int16_t(buf, 62, zacc);
|
||
|
|
_mav_put_float_array(buf, 8, attitude_quaternion, 4);
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
|
||
|
|
#endif
|
||
|
|
#else
|
||
|
|
mavlink_hil_state_quaternion_t packet;
|
||
|
|
packet.time_usec = time_usec;
|
||
|
|
packet.rollspeed = rollspeed;
|
||
|
|
packet.pitchspeed = pitchspeed;
|
||
|
|
packet.yawspeed = yawspeed;
|
||
|
|
packet.lat = lat;
|
||
|
|
packet.lon = lon;
|
||
|
|
packet.alt = alt;
|
||
|
|
packet.vx = vx;
|
||
|
|
packet.vy = vy;
|
||
|
|
packet.vz = vz;
|
||
|
|
packet.ind_airspeed = ind_airspeed;
|
||
|
|
packet.true_airspeed = true_airspeed;
|
||
|
|
packet.xacc = xacc;
|
||
|
|
packet.yacc = yacc;
|
||
|
|
packet.zacc = zacc;
|
||
|
|
mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
||
|
|
/*
|
||
|
|
This varient of _send() can be used to save stack space by re-using
|
||
|
|
memory from the receive buffer. The caller provides a
|
||
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
||
|
|
is usually the receive buffer for the channel, and allows a reply to an
|
||
|
|
incoming message with minimum stack space usage.
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_hil_state_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
||
|
|
_mav_put_float(buf, 24, rollspeed);
|
||
|
|
_mav_put_float(buf, 28, pitchspeed);
|
||
|
|
_mav_put_float(buf, 32, yawspeed);
|
||
|
|
_mav_put_int32_t(buf, 36, lat);
|
||
|
|
_mav_put_int32_t(buf, 40, lon);
|
||
|
|
_mav_put_int32_t(buf, 44, alt);
|
||
|
|
_mav_put_int16_t(buf, 48, vx);
|
||
|
|
_mav_put_int16_t(buf, 50, vy);
|
||
|
|
_mav_put_int16_t(buf, 52, vz);
|
||
|
|
_mav_put_uint16_t(buf, 54, ind_airspeed);
|
||
|
|
_mav_put_uint16_t(buf, 56, true_airspeed);
|
||
|
|
_mav_put_int16_t(buf, 58, xacc);
|
||
|
|
_mav_put_int16_t(buf, 60, yacc);
|
||
|
|
_mav_put_int16_t(buf, 62, zacc);
|
||
|
|
_mav_put_float_array(buf, 8, attitude_quaternion, 4);
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
|
||
|
|
#endif
|
||
|
|
#else
|
||
|
|
mavlink_hil_state_quaternion_t *packet = (mavlink_hil_state_quaternion_t *)msgbuf;
|
||
|
|
packet->time_usec = time_usec;
|
||
|
|
packet->rollspeed = rollspeed;
|
||
|
|
packet->pitchspeed = pitchspeed;
|
||
|
|
packet->yawspeed = yawspeed;
|
||
|
|
packet->lat = lat;
|
||
|
|
packet->lon = lon;
|
||
|
|
packet->alt = alt;
|
||
|
|
packet->vx = vx;
|
||
|
|
packet->vy = vy;
|
||
|
|
packet->vz = vz;
|
||
|
|
packet->ind_airspeed = ind_airspeed;
|
||
|
|
packet->true_airspeed = true_airspeed;
|
||
|
|
packet->xacc = xacc;
|
||
|
|
packet->yacc = yacc;
|
||
|
|
packet->zacc = zacc;
|
||
|
|
mav_array_memcpy(packet->attitude_quaternion, attitude_quaternion, sizeof(float)*4);
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE HIL_STATE_QUATERNION UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field time_usec from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
||
|
|
*/
|
||
|
|
static inline uint64_t mavlink_msg_hil_state_quaternion_get_time_usec(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint64_t(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field attitude_quaternion from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_hil_state_quaternion_get_attitude_quaternion(const mavlink_message_t* msg, float *attitude_quaternion)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float_array(msg, attitude_quaternion, 4, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field rollspeed from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Body frame roll / phi angular speed (rad/s)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_hil_state_quaternion_get_rollspeed(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 24);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field pitchspeed from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Body frame pitch / theta angular speed (rad/s)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_hil_state_quaternion_get_pitchspeed(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 28);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field yawspeed from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Body frame yaw / psi angular speed (rad/s)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 32);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field lat from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Latitude, expressed as * 1E7
|
||
|
|
*/
|
||
|
|
static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int32_t(msg, 36);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field lon from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Longitude, expressed as * 1E7
|
||
|
|
*/
|
||
|
|
static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int32_t(msg, 40);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field alt from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Altitude in meters, expressed as * 1000 (millimeters)
|
||
|
|
*/
|
||
|
|
static inline int32_t mavlink_msg_hil_state_quaternion_get_alt(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int32_t(msg, 44);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field vx from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Ground X Speed (Latitude), expressed as m/s * 100
|
||
|
|
*/
|
||
|
|
static inline int16_t mavlink_msg_hil_state_quaternion_get_vx(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int16_t(msg, 48);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field vy from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Ground Y Speed (Longitude), expressed as m/s * 100
|
||
|
|
*/
|
||
|
|
static inline int16_t mavlink_msg_hil_state_quaternion_get_vy(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int16_t(msg, 50);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field vz from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Ground Z Speed (Altitude), expressed as m/s * 100
|
||
|
|
*/
|
||
|
|
static inline int16_t mavlink_msg_hil_state_quaternion_get_vz(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int16_t(msg, 52);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field ind_airspeed from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Indicated airspeed, expressed as m/s * 100
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_hil_state_quaternion_get_ind_airspeed(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint16_t(msg, 54);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field true_airspeed from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return True airspeed, expressed as m/s * 100
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_hil_state_quaternion_get_true_airspeed(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint16_t(msg, 56);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field xacc from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return X acceleration (mg)
|
||
|
|
*/
|
||
|
|
static inline int16_t mavlink_msg_hil_state_quaternion_get_xacc(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int16_t(msg, 58);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field yacc from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Y acceleration (mg)
|
||
|
|
*/
|
||
|
|
static inline int16_t mavlink_msg_hil_state_quaternion_get_yacc(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int16_t(msg, 60);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field zacc from hil_state_quaternion message
|
||
|
|
*
|
||
|
|
* @return Z acceleration (mg)
|
||
|
|
*/
|
||
|
|
static inline int16_t mavlink_msg_hil_state_quaternion_get_zacc(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int16_t(msg, 62);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a hil_state_quaternion message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param hil_state_quaternion C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_hil_state_quaternion_decode(const mavlink_message_t* msg, mavlink_hil_state_quaternion_t* hil_state_quaternion)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
||
|
|
hil_state_quaternion->time_usec = mavlink_msg_hil_state_quaternion_get_time_usec(msg);
|
||
|
|
mavlink_msg_hil_state_quaternion_get_attitude_quaternion(msg, hil_state_quaternion->attitude_quaternion);
|
||
|
|
hil_state_quaternion->rollspeed = mavlink_msg_hil_state_quaternion_get_rollspeed(msg);
|
||
|
|
hil_state_quaternion->pitchspeed = mavlink_msg_hil_state_quaternion_get_pitchspeed(msg);
|
||
|
|
hil_state_quaternion->yawspeed = mavlink_msg_hil_state_quaternion_get_yawspeed(msg);
|
||
|
|
hil_state_quaternion->lat = mavlink_msg_hil_state_quaternion_get_lat(msg);
|
||
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hil_state_quaternion->lon = mavlink_msg_hil_state_quaternion_get_lon(msg);
|
||
|
|
hil_state_quaternion->alt = mavlink_msg_hil_state_quaternion_get_alt(msg);
|
||
|
|
hil_state_quaternion->vx = mavlink_msg_hil_state_quaternion_get_vx(msg);
|
||
|
|
hil_state_quaternion->vy = mavlink_msg_hil_state_quaternion_get_vy(msg);
|
||
|
|
hil_state_quaternion->vz = mavlink_msg_hil_state_quaternion_get_vz(msg);
|
||
|
|
hil_state_quaternion->ind_airspeed = mavlink_msg_hil_state_quaternion_get_ind_airspeed(msg);
|
||
|
|
hil_state_quaternion->true_airspeed = mavlink_msg_hil_state_quaternion_get_true_airspeed(msg);
|
||
|
|
hil_state_quaternion->xacc = mavlink_msg_hil_state_quaternion_get_xacc(msg);
|
||
|
|
hil_state_quaternion->yacc = mavlink_msg_hil_state_quaternion_get_yacc(msg);
|
||
|
|
hil_state_quaternion->zacc = mavlink_msg_hil_state_quaternion_get_zacc(msg);
|
||
|
|
#else
|
||
|
|
memcpy(hil_state_quaternion, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
|
||
|
|
#endif
|
||
|
|
}
|