323 lines
14 KiB
C
323 lines
14 KiB
C
// MESSAGE ATTITUDE_QUATERNION_COV PACKING
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#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV 61
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typedef struct __mavlink_attitude_quaternion_cov_t
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{
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uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
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float q[4]; ///< Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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float rollspeed; ///< Roll angular speed (rad/s)
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float pitchspeed; ///< Pitch angular speed (rad/s)
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float yawspeed; ///< Yaw angular speed (rad/s)
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float covariance[9]; ///< Attitude covariance
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} mavlink_attitude_quaternion_cov_t;
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#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN 68
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#define MAVLINK_MSG_ID_61_LEN 68
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#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC 153
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#define MAVLINK_MSG_ID_61_CRC 153
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#define MAVLINK_MSG_ATTITUDE_QUATERNION_COV_FIELD_Q_LEN 4
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#define MAVLINK_MSG_ATTITUDE_QUATERNION_COV_FIELD_COVARIANCE_LEN 9
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#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION_COV { \
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"ATTITUDE_QUATERNION_COV", \
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6, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_cov_t, time_boot_ms) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_quaternion_cov_t, q) }, \
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{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_cov_t, rollspeed) }, \
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{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_cov_t, pitchspeed) }, \
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{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_cov_t, yawspeed) }, \
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{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 32, offsetof(mavlink_attitude_quaternion_cov_t, covariance) }, \
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} \
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}
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/**
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* @brief Pack a attitude_quaternion_cov 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_boot_ms Timestamp (milliseconds since system boot)
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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* @param rollspeed Roll angular speed (rad/s)
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* @param pitchspeed Pitch angular speed (rad/s)
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* @param yawspeed Yaw angular speed (rad/s)
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* @param covariance Attitude covariance
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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_attitude_quaternion_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
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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_ATTITUDE_QUATERNION_COV_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, rollspeed);
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_mav_put_float(buf, 24, pitchspeed);
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_mav_put_float(buf, 28, yawspeed);
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_mav_put_float_array(buf, 4, q, 4);
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_mav_put_float_array(buf, 32, covariance, 9);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#else
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mavlink_attitude_quaternion_cov_t packet;
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packet.time_boot_ms = time_boot_ms;
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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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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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}
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/**
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* @brief Pack a attitude_quaternion_cov 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_boot_ms Timestamp (milliseconds since system boot)
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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* @param rollspeed Roll angular speed (rad/s)
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* @param pitchspeed Pitch angular speed (rad/s)
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* @param yawspeed Yaw angular speed (rad/s)
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* @param covariance Attitude covariance
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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_attitude_quaternion_cov_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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uint32_t time_boot_ms,const float *q,float rollspeed,float pitchspeed,float yawspeed,const float *covariance)
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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_ATTITUDE_QUATERNION_COV_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, rollspeed);
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_mav_put_float(buf, 24, pitchspeed);
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_mav_put_float(buf, 28, yawspeed);
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_mav_put_float_array(buf, 4, q, 4);
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_mav_put_float_array(buf, 32, covariance, 9);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#else
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mavlink_attitude_quaternion_cov_t packet;
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packet.time_boot_ms = time_boot_ms;
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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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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV;
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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_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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}
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/**
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* @brief Encode a attitude_quaternion_cov 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 attitude_quaternion_cov C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
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{
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return mavlink_msg_attitude_quaternion_cov_pack(system_id, component_id, msg, attitude_quaternion_cov->time_boot_ms, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
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}
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/**
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* @brief Encode a attitude_quaternion_cov 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 attitude_quaternion_cov C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
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{
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return mavlink_msg_attitude_quaternion_cov_pack_chan(system_id, component_id, chan, msg, attitude_quaternion_cov->time_boot_ms, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
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}
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/**
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* @brief Send a attitude_quaternion_cov message
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* @param chan MAVLink channel to send the message
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*
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* @param time_boot_ms Timestamp (milliseconds since system boot)
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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* @param rollspeed Roll angular speed (rad/s)
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* @param pitchspeed Pitch angular speed (rad/s)
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* @param yawspeed Yaw angular speed (rad/s)
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* @param covariance Attitude covariance
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_attitude_quaternion_cov_send(mavlink_channel_t chan, uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
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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_ATTITUDE_QUATERNION_COV_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, rollspeed);
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_mav_put_float(buf, 24, pitchspeed);
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_mav_put_float(buf, 28, yawspeed);
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_mav_put_float_array(buf, 4, q, 4);
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_mav_put_float_array(buf, 32, covariance, 9);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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#else
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mavlink_attitude_quaternion_cov_t packet;
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packet.time_boot_ms = time_boot_ms;
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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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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_attitude_quaternion_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, rollspeed);
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_mav_put_float(buf, 24, pitchspeed);
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_mav_put_float(buf, 28, yawspeed);
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_mav_put_float_array(buf, 4, q, 4);
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_mav_put_float_array(buf, 32, covariance, 9);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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#else
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mavlink_attitude_quaternion_cov_t *packet = (mavlink_attitude_quaternion_cov_t *)msgbuf;
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packet->time_boot_ms = time_boot_ms;
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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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mav_array_memcpy(packet->q, q, sizeof(float)*4);
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mav_array_memcpy(packet->covariance, covariance, sizeof(float)*9);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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#endif
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}
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#endif
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#endif
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// MESSAGE ATTITUDE_QUATERNION_COV UNPACKING
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/**
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* @brief Get field time_boot_ms from attitude_quaternion_cov message
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*
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* @return Timestamp (milliseconds since system boot)
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*/
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static inline uint32_t mavlink_msg_attitude_quaternion_cov_get_time_boot_ms(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field q from attitude_quaternion_cov message
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*
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* @return Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_q(const mavlink_message_t* msg, float *q)
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{
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return _MAV_RETURN_float_array(msg, q, 4, 4);
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}
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/**
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* @brief Get field rollspeed from attitude_quaternion_cov message
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*
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* @return Roll angular speed (rad/s)
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*/
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static inline float mavlink_msg_attitude_quaternion_cov_get_rollspeed(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field pitchspeed from attitude_quaternion_cov message
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*
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* @return Pitch angular speed (rad/s)
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*/
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static inline float mavlink_msg_attitude_quaternion_cov_get_pitchspeed(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Get field yawspeed from attitude_quaternion_cov message
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*
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* @return Yaw angular speed (rad/s)
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*/
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static inline float mavlink_msg_attitude_quaternion_cov_get_yawspeed(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 28);
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}
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/**
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* @brief Get field covariance from attitude_quaternion_cov message
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*
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* @return Attitude covariance
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
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{
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return _MAV_RETURN_float_array(msg, covariance, 9, 32);
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}
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/**
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* @brief Decode a attitude_quaternion_cov message into a struct
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*
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* @param msg The message to decode
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* @param attitude_quaternion_cov C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_attitude_quaternion_cov_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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attitude_quaternion_cov->time_boot_ms = mavlink_msg_attitude_quaternion_cov_get_time_boot_ms(msg);
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mavlink_msg_attitude_quaternion_cov_get_q(msg, attitude_quaternion_cov->q);
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attitude_quaternion_cov->rollspeed = mavlink_msg_attitude_quaternion_cov_get_rollspeed(msg);
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attitude_quaternion_cov->pitchspeed = mavlink_msg_attitude_quaternion_cov_get_pitchspeed(msg);
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attitude_quaternion_cov->yawspeed = mavlink_msg_attitude_quaternion_cov_get_yawspeed(msg);
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mavlink_msg_attitude_quaternion_cov_get_covariance(msg, attitude_quaternion_cov->covariance);
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#else
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memcpy(attitude_quaternion_cov, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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}
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