354 lines
12 KiB
C
Executable File
354 lines
12 KiB
C
Executable File
// MESSAGE ATTITUDE PACKING
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#define MAVLINK_MSG_ID_ATTITUDE 30
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typedef struct __mavlink_attitude_t
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{
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uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
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float roll; ///< Roll angle (rad, -pi..+pi)
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float pitch; ///< Pitch angle (rad, -pi..+pi)
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float yaw; ///< Yaw angle (rad, -pi..+pi)
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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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} mavlink_attitude_t;
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#define MAVLINK_MSG_ID_ATTITUDE_LEN 28
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#define MAVLINK_MSG_ID_30_LEN 28
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#define MAVLINK_MSG_ID_ATTITUDE_CRC 39
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#define MAVLINK_MSG_ID_30_CRC 39
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#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
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"ATTITUDE", \
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7, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
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{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
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{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
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{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
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} \
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}
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/**
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* @brief Pack a attitude 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 roll Roll angle (rad, -pi..+pi)
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* @param pitch Pitch angle (rad, -pi..+pi)
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* @param yaw Yaw angle (rad, -pi..+pi)
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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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* @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_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
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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_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, rollspeed);
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_mav_put_float(buf, 20, pitchspeed);
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_mav_put_float(buf, 24, yawspeed);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
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#else
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mavlink_attitude_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
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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_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN);
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#endif
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}
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/**
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* @brief Pack a attitude 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 roll Roll angle (rad, -pi..+pi)
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* @param pitch Pitch angle (rad, -pi..+pi)
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* @param yaw Yaw angle (rad, -pi..+pi)
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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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* @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_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,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
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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_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, rollspeed);
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_mav_put_float(buf, 20, pitchspeed);
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_mav_put_float(buf, 24, yawspeed);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
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#else
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mavlink_attitude_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
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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_LEN, MAVLINK_MSG_ID_ATTITUDE_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_LEN);
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#endif
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}
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/**
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* @brief Encode a attitude 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 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
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{
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return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
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}
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/**
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* @brief Encode a attitude 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 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
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{
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return mavlink_msg_attitude_pack_chan(system_id, component_id, chan, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
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}
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/**
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* @brief Send a attitude 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 roll Roll angle (rad, -pi..+pi)
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* @param pitch Pitch angle (rad, -pi..+pi)
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* @param yaw Yaw angle (rad, -pi..+pi)
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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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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
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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_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, rollspeed);
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_mav_put_float(buf, 20, pitchspeed);
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_mav_put_float(buf, 24, yawspeed);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
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#endif
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#else
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mavlink_attitude_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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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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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_ATTITUDE_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_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
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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, 4, roll);
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_mav_put_float(buf, 8, pitch);
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_mav_put_float(buf, 12, yaw);
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_mav_put_float(buf, 16, rollspeed);
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_mav_put_float(buf, 20, pitchspeed);
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_mav_put_float(buf, 24, yawspeed);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
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#endif
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#else
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mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
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packet->time_boot_ms = time_boot_ms;
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packet->roll = roll;
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packet->pitch = pitch;
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packet->yaw = yaw;
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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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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_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 UNPACKING
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/**
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* @brief Get field time_boot_ms from attitude 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_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 roll from attitude message
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*
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* @return Roll angle (rad, -pi..+pi)
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*/
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static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field pitch from attitude message
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*
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* @return Pitch angle (rad, -pi..+pi)
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*/
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static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field yaw from attitude message
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*
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* @return Yaw angle (rad, -pi..+pi)
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*/
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static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field rollspeed from attitude 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_get_rollspeed(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field pitchspeed from attitude 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_get_pitchspeed(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 yawspeed from attitude 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_get_yawspeed(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 Decode a attitude message into a struct
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*
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* @param msg The message to decode
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* @param attitude C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
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attitude->roll = mavlink_msg_attitude_get_roll(msg);
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attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
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attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
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attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
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attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
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attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
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#else
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memcpy(attitude, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_LEN);
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#endif
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}
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