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emaxx_board/mavlink_msg_fused_imu.h@1:7e9af9a921f7, 2017-01-20 (annotated)

Committer:
jdawkins
Date:
Fri Jan 20 13:27:11 2017 +0000
Revision:
1:7e9af9a921f7
Parent:
0:bb2cacd02294 
Fixed Asin error in mavlink_conversions.h

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdawkins 0:bb2cacd02294 1 #pragma once
jdawkins 0:bb2cacd02294 2 // MESSAGE FUSED_IMU PACKING
jdawkins 0:bb2cacd02294 3
jdawkins 0:bb2cacd02294 4 #define MAVLINK_MSG_ID_FUSED_IMU 151
jdawkins 0:bb2cacd02294 5
jdawkins 0:bb2cacd02294 6 MAVPACKED(
jdawkins 0:bb2cacd02294 7 typedef struct __mavlink_fused_imu_t {
jdawkins 0:bb2cacd02294 8 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
jdawkins 0:bb2cacd02294 9 float accel_x; /*< X acceleration (m/s^2)*/
jdawkins 0:bb2cacd02294 10 float accel_y; /*< Y acceleration (m/s^2)*/
jdawkins 0:bb2cacd02294 11 float accel_z; /*< Z acceleration (m/s^2)*/
jdawkins 0:bb2cacd02294 12 float gyro_x; /*< Roll angular speed (rad/s)*/
jdawkins 0:bb2cacd02294 13 float gyro_y; /*< Pitch angular speed (rad/s)*/
jdawkins 0:bb2cacd02294 14 float gyro_z; /*< Yaw angular speed (rad/s)*/
jdawkins 0:bb2cacd02294 15 float roll; /*< Roll angle (rad, -pi..+pi)*/
jdawkins 0:bb2cacd02294 16 float pitch; /*< Pitch angle (rad, -pi..+pi)*/
jdawkins 0:bb2cacd02294 17 float yaw; /*< Yaw angle (rad, -pi..+pi)*/
jdawkins 0:bb2cacd02294 18 }) mavlink_fused_imu_t;
jdawkins 0:bb2cacd02294 19
jdawkins 0:bb2cacd02294 20 #define MAVLINK_MSG_ID_FUSED_IMU_LEN 40
jdawkins 0:bb2cacd02294 21 #define MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN 40
jdawkins 0:bb2cacd02294 22 #define MAVLINK_MSG_ID_151_LEN 40
jdawkins 0:bb2cacd02294 23 #define MAVLINK_MSG_ID_151_MIN_LEN 40
jdawkins 0:bb2cacd02294 24
jdawkins 0:bb2cacd02294 25 #define MAVLINK_MSG_ID_FUSED_IMU_CRC 218
jdawkins 0:bb2cacd02294 26 #define MAVLINK_MSG_ID_151_CRC 218
jdawkins 0:bb2cacd02294 27
jdawkins 0:bb2cacd02294 28
jdawkins 0:bb2cacd02294 29
jdawkins 0:bb2cacd02294 30 #if MAVLINK_COMMAND_24BIT
jdawkins 0:bb2cacd02294 31 #define MAVLINK_MESSAGE_INFO_FUSED_IMU { \
jdawkins 0:bb2cacd02294 32 151, \
jdawkins 0:bb2cacd02294 33 "FUSED_IMU", \
jdawkins 0:bb2cacd02294 34 10, \
jdawkins 0:bb2cacd02294 35 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fused_imu_t, time_boot_ms) }, \
jdawkins 0:bb2cacd02294 36 { "accel_x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fused_imu_t, accel_x) }, \
jdawkins 0:bb2cacd02294 37 { "accel_y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_fused_imu_t, accel_y) }, \
jdawkins 0:bb2cacd02294 38 { "accel_z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_fused_imu_t, accel_z) }, \
jdawkins 0:bb2cacd02294 39 { "gyro_x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_fused_imu_t, gyro_x) }, \
jdawkins 0:bb2cacd02294 40 { "gyro_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_fused_imu_t, gyro_y) }, \
jdawkins 0:bb2cacd02294 41 { "gyro_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_fused_imu_t, gyro_z) }, \
jdawkins 0:bb2cacd02294 42 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_fused_imu_t, roll) }, \
jdawkins 0:bb2cacd02294 43 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_fused_imu_t, pitch) }, \
jdawkins 0:bb2cacd02294 44 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_fused_imu_t, yaw) }, \
jdawkins 0:bb2cacd02294 45 } \
jdawkins 0:bb2cacd02294 46 }
jdawkins 0:bb2cacd02294 47 #else
jdawkins 0:bb2cacd02294 48 #define MAVLINK_MESSAGE_INFO_FUSED_IMU { \
jdawkins 0:bb2cacd02294 49 "FUSED_IMU", \
jdawkins 0:bb2cacd02294 50 10, \
jdawkins 0:bb2cacd02294 51 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fused_imu_t, time_boot_ms) }, \
jdawkins 0:bb2cacd02294 52 { "accel_x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fused_imu_t, accel_x) }, \
jdawkins 0:bb2cacd02294 53 { "accel_y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_fused_imu_t, accel_y) }, \
jdawkins 0:bb2cacd02294 54 { "accel_z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_fused_imu_t, accel_z) }, \
jdawkins 0:bb2cacd02294 55 { "gyro_x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_fused_imu_t, gyro_x) }, \
jdawkins 0:bb2cacd02294 56 { "gyro_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_fused_imu_t, gyro_y) }, \
jdawkins 0:bb2cacd02294 57 { "gyro_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_fused_imu_t, gyro_z) }, \
jdawkins 0:bb2cacd02294 58 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_fused_imu_t, roll) }, \
jdawkins 0:bb2cacd02294 59 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_fused_imu_t, pitch) }, \
jdawkins 0:bb2cacd02294 60 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_fused_imu_t, yaw) }, \
jdawkins 0:bb2cacd02294 61 } \
jdawkins 0:bb2cacd02294 62 }
jdawkins 0:bb2cacd02294 63 #endif
jdawkins 0:bb2cacd02294 64
jdawkins 0:bb2cacd02294 65 /**
jdawkins 0:bb2cacd02294 66 * @brief Pack a fused_imu message
jdawkins 0:bb2cacd02294 67 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 68 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 69 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 70 *
jdawkins 0:bb2cacd02294 71 * @param time_boot_ms Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 72 * @param accel_x X acceleration (m/s^2)
jdawkins 0:bb2cacd02294 73 * @param accel_y Y acceleration (m/s^2)
jdawkins 0:bb2cacd02294 74 * @param accel_z Z acceleration (m/s^2)
jdawkins 0:bb2cacd02294 75 * @param gyro_x Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 76 * @param gyro_y Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 77 * @param gyro_z Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 78 * @param roll Roll angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 79 * @param pitch Pitch angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 80 * @param yaw Yaw angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 81 * @return length of the message in bytes (excluding serial stream start sign)
jdawkins 0:bb2cacd02294 82 */
jdawkins 0:bb2cacd02294 83 static inline uint16_t mavlink_msg_fused_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
jdawkins 0:bb2cacd02294 84 uint32_t time_boot_ms, float accel_x, float accel_y, float accel_z, float gyro_x, float gyro_y, float gyro_z, float roll, float pitch, float yaw)
jdawkins 0:bb2cacd02294 85 {
jdawkins 0:bb2cacd02294 86 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 87 char buf[MAVLINK_MSG_ID_FUSED_IMU_LEN];
jdawkins 0:bb2cacd02294 88 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 89 _mav_put_float(buf, 4, accel_x);
jdawkins 0:bb2cacd02294 90 _mav_put_float(buf, 8, accel_y);
jdawkins 0:bb2cacd02294 91 _mav_put_float(buf, 12, accel_z);
jdawkins 0:bb2cacd02294 92 _mav_put_float(buf, 16, gyro_x);
jdawkins 0:bb2cacd02294 93 _mav_put_float(buf, 20, gyro_y);
jdawkins 0:bb2cacd02294 94 _mav_put_float(buf, 24, gyro_z);
jdawkins 0:bb2cacd02294 95 _mav_put_float(buf, 28, roll);
jdawkins 0:bb2cacd02294 96 _mav_put_float(buf, 32, pitch);
jdawkins 0:bb2cacd02294 97 _mav_put_float(buf, 36, yaw);
jdawkins 0:bb2cacd02294 98
jdawkins 0:bb2cacd02294 99 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FUSED_IMU_LEN);
jdawkins 0:bb2cacd02294 100 #else
jdawkins 0:bb2cacd02294 101 mavlink_fused_imu_t packet;
jdawkins 0:bb2cacd02294 102 packet.time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 103 packet.accel_x = accel_x;
jdawkins 0:bb2cacd02294 104 packet.accel_y = accel_y;
jdawkins 0:bb2cacd02294 105 packet.accel_z = accel_z;
jdawkins 0:bb2cacd02294 106 packet.gyro_x = gyro_x;
jdawkins 0:bb2cacd02294 107 packet.gyro_y = gyro_y;
jdawkins 0:bb2cacd02294 108 packet.gyro_z = gyro_z;
jdawkins 0:bb2cacd02294 109 packet.roll = roll;
jdawkins 0:bb2cacd02294 110 packet.pitch = pitch;
jdawkins 0:bb2cacd02294 111 packet.yaw = yaw;
jdawkins 0:bb2cacd02294 112
jdawkins 0:bb2cacd02294 113 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FUSED_IMU_LEN);
jdawkins 0:bb2cacd02294 114 #endif
jdawkins 0:bb2cacd02294 115
jdawkins 0:bb2cacd02294 116 msg->msgid = MAVLINK_MSG_ID_FUSED_IMU;
jdawkins 0:bb2cacd02294 117 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN, MAVLINK_MSG_ID_FUSED_IMU_LEN, MAVLINK_MSG_ID_FUSED_IMU_CRC);
jdawkins 0:bb2cacd02294 118 }
jdawkins 0:bb2cacd02294 119
jdawkins 0:bb2cacd02294 120 /**
jdawkins 0:bb2cacd02294 121 * @brief Pack a fused_imu message on a channel
jdawkins 0:bb2cacd02294 122 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 123 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 124 * @param chan The MAVLink channel this message will be sent over
jdawkins 0:bb2cacd02294 125 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 126 * @param time_boot_ms Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 127 * @param accel_x X acceleration (m/s^2)
jdawkins 0:bb2cacd02294 128 * @param accel_y Y acceleration (m/s^2)
jdawkins 0:bb2cacd02294 129 * @param accel_z Z acceleration (m/s^2)
jdawkins 0:bb2cacd02294 130 * @param gyro_x Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 131 * @param gyro_y Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 132 * @param gyro_z Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 133 * @param roll Roll angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 134 * @param pitch Pitch angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 135 * @param yaw Yaw angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 136 * @return length of the message in bytes (excluding serial stream start sign)
jdawkins 0:bb2cacd02294 137 */
jdawkins 0:bb2cacd02294 138 static inline uint16_t mavlink_msg_fused_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
jdawkins 0:bb2cacd02294 139 mavlink_message_t* msg,
jdawkins 0:bb2cacd02294 140 uint32_t time_boot_ms,float accel_x,float accel_y,float accel_z,float gyro_x,float gyro_y,float gyro_z,float roll,float pitch,float yaw)
jdawkins 0:bb2cacd02294 141 {
jdawkins 0:bb2cacd02294 142 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 143 char buf[MAVLINK_MSG_ID_FUSED_IMU_LEN];
jdawkins 0:bb2cacd02294 144 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 145 _mav_put_float(buf, 4, accel_x);
jdawkins 0:bb2cacd02294 146 _mav_put_float(buf, 8, accel_y);
jdawkins 0:bb2cacd02294 147 _mav_put_float(buf, 12, accel_z);
jdawkins 0:bb2cacd02294 148 _mav_put_float(buf, 16, gyro_x);
jdawkins 0:bb2cacd02294 149 _mav_put_float(buf, 20, gyro_y);
jdawkins 0:bb2cacd02294 150 _mav_put_float(buf, 24, gyro_z);
jdawkins 0:bb2cacd02294 151 _mav_put_float(buf, 28, roll);
jdawkins 0:bb2cacd02294 152 _mav_put_float(buf, 32, pitch);
jdawkins 0:bb2cacd02294 153 _mav_put_float(buf, 36, yaw);
jdawkins 0:bb2cacd02294 154
jdawkins 0:bb2cacd02294 155 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FUSED_IMU_LEN);
jdawkins 0:bb2cacd02294 156 #else
jdawkins 0:bb2cacd02294 157 mavlink_fused_imu_t packet;
jdawkins 0:bb2cacd02294 158 packet.time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 159 packet.accel_x = accel_x;
jdawkins 0:bb2cacd02294 160 packet.accel_y = accel_y;
jdawkins 0:bb2cacd02294 161 packet.accel_z = accel_z;
jdawkins 0:bb2cacd02294 162 packet.gyro_x = gyro_x;
jdawkins 0:bb2cacd02294 163 packet.gyro_y = gyro_y;
jdawkins 0:bb2cacd02294 164 packet.gyro_z = gyro_z;
jdawkins 0:bb2cacd02294 165 packet.roll = roll;
jdawkins 0:bb2cacd02294 166 packet.pitch = pitch;
jdawkins 0:bb2cacd02294 167 packet.yaw = yaw;
jdawkins 0:bb2cacd02294 168
jdawkins 0:bb2cacd02294 169 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FUSED_IMU_LEN);
jdawkins 0:bb2cacd02294 170 #endif
jdawkins 0:bb2cacd02294 171
jdawkins 0:bb2cacd02294 172 msg->msgid = MAVLINK_MSG_ID_FUSED_IMU;
jdawkins 0:bb2cacd02294 173 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN, MAVLINK_MSG_ID_FUSED_IMU_LEN, MAVLINK_MSG_ID_FUSED_IMU_CRC);
jdawkins 0:bb2cacd02294 174 }
jdawkins 0:bb2cacd02294 175
jdawkins 0:bb2cacd02294 176 /**
jdawkins 0:bb2cacd02294 177 * @brief Encode a fused_imu struct
jdawkins 0:bb2cacd02294 178 *
jdawkins 0:bb2cacd02294 179 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 180 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 181 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 182 * @param fused_imu C-struct to read the message contents from
jdawkins 0:bb2cacd02294 183 */
jdawkins 0:bb2cacd02294 184 static inline uint16_t mavlink_msg_fused_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fused_imu_t* fused_imu)
jdawkins 0:bb2cacd02294 185 {
jdawkins 0:bb2cacd02294 186 return mavlink_msg_fused_imu_pack(system_id, component_id, msg, fused_imu->time_boot_ms, fused_imu->accel_x, fused_imu->accel_y, fused_imu->accel_z, fused_imu->gyro_x, fused_imu->gyro_y, fused_imu->gyro_z, fused_imu->roll, fused_imu->pitch, fused_imu->yaw);
jdawkins 0:bb2cacd02294 187 }
jdawkins 0:bb2cacd02294 188
jdawkins 0:bb2cacd02294 189 /**
jdawkins 0:bb2cacd02294 190 * @brief Encode a fused_imu struct on a channel
jdawkins 0:bb2cacd02294 191 *
jdawkins 0:bb2cacd02294 192 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 193 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 194 * @param chan The MAVLink channel this message will be sent over
jdawkins 0:bb2cacd02294 195 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 196 * @param fused_imu C-struct to read the message contents from
jdawkins 0:bb2cacd02294 197 */
jdawkins 0:bb2cacd02294 198 static inline uint16_t mavlink_msg_fused_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fused_imu_t* fused_imu)
jdawkins 0:bb2cacd02294 199 {
jdawkins 0:bb2cacd02294 200 return mavlink_msg_fused_imu_pack_chan(system_id, component_id, chan, msg, fused_imu->time_boot_ms, fused_imu->accel_x, fused_imu->accel_y, fused_imu->accel_z, fused_imu->gyro_x, fused_imu->gyro_y, fused_imu->gyro_z, fused_imu->roll, fused_imu->pitch, fused_imu->yaw);
jdawkins 0:bb2cacd02294 201 }
jdawkins 0:bb2cacd02294 202
jdawkins 0:bb2cacd02294 203 /**
jdawkins 0:bb2cacd02294 204 * @brief Send a fused_imu message
jdawkins 0:bb2cacd02294 205 * @param chan MAVLink channel to send the message
jdawkins 0:bb2cacd02294 206 *
jdawkins 0:bb2cacd02294 207 * @param time_boot_ms Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 208 * @param accel_x X acceleration (m/s^2)
jdawkins 0:bb2cacd02294 209 * @param accel_y Y acceleration (m/s^2)
jdawkins 0:bb2cacd02294 210 * @param accel_z Z acceleration (m/s^2)
jdawkins 0:bb2cacd02294 211 * @param gyro_x Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 212 * @param gyro_y Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 213 * @param gyro_z Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 214 * @param roll Roll angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 215 * @param pitch Pitch angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 216 * @param yaw Yaw angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 217 */
jdawkins 0:bb2cacd02294 218 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
jdawkins 0:bb2cacd02294 219
jdawkins 0:bb2cacd02294 220 static inline void mavlink_msg_fused_imu_send(mavlink_channel_t chan, uint32_t time_boot_ms, float accel_x, float accel_y, float accel_z, float gyro_x, float gyro_y, float gyro_z, float roll, float pitch, float yaw)
jdawkins 0:bb2cacd02294 221 {
jdawkins 0:bb2cacd02294 222 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 223 char buf[MAVLINK_MSG_ID_FUSED_IMU_LEN];
jdawkins 0:bb2cacd02294 224 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 225 _mav_put_float(buf, 4, accel_x);
jdawkins 0:bb2cacd02294 226 _mav_put_float(buf, 8, accel_y);
jdawkins 0:bb2cacd02294 227 _mav_put_float(buf, 12, accel_z);
jdawkins 0:bb2cacd02294 228 _mav_put_float(buf, 16, gyro_x);
jdawkins 0:bb2cacd02294 229 _mav_put_float(buf, 20, gyro_y);
jdawkins 0:bb2cacd02294 230 _mav_put_float(buf, 24, gyro_z);
jdawkins 0:bb2cacd02294 231 _mav_put_float(buf, 28, roll);
jdawkins 0:bb2cacd02294 232 _mav_put_float(buf, 32, pitch);
jdawkins 0:bb2cacd02294 233 _mav_put_float(buf, 36, yaw);
jdawkins 0:bb2cacd02294 234
jdawkins 0:bb2cacd02294 235 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FUSED_IMU, buf, MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN, MAVLINK_MSG_ID_FUSED_IMU_LEN, MAVLINK_MSG_ID_FUSED_IMU_CRC);
jdawkins 0:bb2cacd02294 236 #else
jdawkins 0:bb2cacd02294 237 mavlink_fused_imu_t packet;
jdawkins 0:bb2cacd02294 238 packet.time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 239 packet.accel_x = accel_x;
jdawkins 0:bb2cacd02294 240 packet.accel_y = accel_y;
jdawkins 0:bb2cacd02294 241 packet.accel_z = accel_z;
jdawkins 0:bb2cacd02294 242 packet.gyro_x = gyro_x;
jdawkins 0:bb2cacd02294 243 packet.gyro_y = gyro_y;
jdawkins 0:bb2cacd02294 244 packet.gyro_z = gyro_z;
jdawkins 0:bb2cacd02294 245 packet.roll = roll;
jdawkins 0:bb2cacd02294 246 packet.pitch = pitch;
jdawkins 0:bb2cacd02294 247 packet.yaw = yaw;
jdawkins 0:bb2cacd02294 248
jdawkins 0:bb2cacd02294 249 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FUSED_IMU, (const char *)&packet, MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN, MAVLINK_MSG_ID_FUSED_IMU_LEN, MAVLINK_MSG_ID_FUSED_IMU_CRC);
jdawkins 0:bb2cacd02294 250 #endif
jdawkins 0:bb2cacd02294 251 }
jdawkins 0:bb2cacd02294 252
jdawkins 0:bb2cacd02294 253 /**
jdawkins 0:bb2cacd02294 254 * @brief Send a fused_imu message
jdawkins 0:bb2cacd02294 255 * @param chan MAVLink channel to send the message
jdawkins 0:bb2cacd02294 256 * @param struct The MAVLink struct to serialize
jdawkins 0:bb2cacd02294 257 */
jdawkins 0:bb2cacd02294 258 static inline void mavlink_msg_fused_imu_send_struct(mavlink_channel_t chan, const mavlink_fused_imu_t* fused_imu)
jdawkins 0:bb2cacd02294 259 {
jdawkins 0:bb2cacd02294 260 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 261 mavlink_msg_fused_imu_send(chan, fused_imu->time_boot_ms, fused_imu->accel_x, fused_imu->accel_y, fused_imu->accel_z, fused_imu->gyro_x, fused_imu->gyro_y, fused_imu->gyro_z, fused_imu->roll, fused_imu->pitch, fused_imu->yaw);
jdawkins 0:bb2cacd02294 262 #else
jdawkins 0:bb2cacd02294 263 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FUSED_IMU, (const char *)fused_imu, MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN, MAVLINK_MSG_ID_FUSED_IMU_LEN, MAVLINK_MSG_ID_FUSED_IMU_CRC);
jdawkins 0:bb2cacd02294 264 #endif
jdawkins 0:bb2cacd02294 265 }
jdawkins 0:bb2cacd02294 266
jdawkins 0:bb2cacd02294 267 #if MAVLINK_MSG_ID_FUSED_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN
jdawkins 0:bb2cacd02294 268 /*
jdawkins 0:bb2cacd02294 269 This varient of _send() can be used to save stack space by re-using
jdawkins 0:bb2cacd02294 270 memory from the receive buffer. The caller provides a
jdawkins 0:bb2cacd02294 271 mavlink_message_t which is the size of a full mavlink message. This
jdawkins 0:bb2cacd02294 272 is usually the receive buffer for the channel, and allows a reply to an
jdawkins 0:bb2cacd02294 273 incoming message with minimum stack space usage.
jdawkins 0:bb2cacd02294 274 */
jdawkins 0:bb2cacd02294 275 static inline void mavlink_msg_fused_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float accel_x, float accel_y, float accel_z, float gyro_x, float gyro_y, float gyro_z, float roll, float pitch, float yaw)
jdawkins 0:bb2cacd02294 276 {
jdawkins 0:bb2cacd02294 277 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 278 char *buf = (char *)msgbuf;
jdawkins 0:bb2cacd02294 279 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 280 _mav_put_float(buf, 4, accel_x);
jdawkins 0:bb2cacd02294 281 _mav_put_float(buf, 8, accel_y);
jdawkins 0:bb2cacd02294 282 _mav_put_float(buf, 12, accel_z);
jdawkins 0:bb2cacd02294 283 _mav_put_float(buf, 16, gyro_x);
jdawkins 0:bb2cacd02294 284 _mav_put_float(buf, 20, gyro_y);
jdawkins 0:bb2cacd02294 285 _mav_put_float(buf, 24, gyro_z);
jdawkins 0:bb2cacd02294 286 _mav_put_float(buf, 28, roll);
jdawkins 0:bb2cacd02294 287 _mav_put_float(buf, 32, pitch);
jdawkins 0:bb2cacd02294 288 _mav_put_float(buf, 36, yaw);
jdawkins 0:bb2cacd02294 289
jdawkins 0:bb2cacd02294 290 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FUSED_IMU, buf, MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN, MAVLINK_MSG_ID_FUSED_IMU_LEN, MAVLINK_MSG_ID_FUSED_IMU_CRC);
jdawkins 0:bb2cacd02294 291 #else
jdawkins 0:bb2cacd02294 292 mavlink_fused_imu_t *packet = (mavlink_fused_imu_t *)msgbuf;
jdawkins 0:bb2cacd02294 293 packet->time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 294 packet->accel_x = accel_x;
jdawkins 0:bb2cacd02294 295 packet->accel_y = accel_y;
jdawkins 0:bb2cacd02294 296 packet->accel_z = accel_z;
jdawkins 0:bb2cacd02294 297 packet->gyro_x = gyro_x;
jdawkins 0:bb2cacd02294 298 packet->gyro_y = gyro_y;
jdawkins 0:bb2cacd02294 299 packet->gyro_z = gyro_z;
jdawkins 0:bb2cacd02294 300 packet->roll = roll;
jdawkins 0:bb2cacd02294 301 packet->pitch = pitch;
jdawkins 0:bb2cacd02294 302 packet->yaw = yaw;
jdawkins 0:bb2cacd02294 303
jdawkins 0:bb2cacd02294 304 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FUSED_IMU, (const char *)packet, MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN, MAVLINK_MSG_ID_FUSED_IMU_LEN, MAVLINK_MSG_ID_FUSED_IMU_CRC);
jdawkins 0:bb2cacd02294 305 #endif
jdawkins 0:bb2cacd02294 306 }
jdawkins 0:bb2cacd02294 307 #endif
jdawkins 0:bb2cacd02294 308
jdawkins 0:bb2cacd02294 309 #endif
jdawkins 0:bb2cacd02294 310
jdawkins 0:bb2cacd02294 311 // MESSAGE FUSED_IMU UNPACKING
jdawkins 0:bb2cacd02294 312
jdawkins 0:bb2cacd02294 313
jdawkins 0:bb2cacd02294 314 /**
jdawkins 0:bb2cacd02294 315 * @brief Get field time_boot_ms from fused_imu message
jdawkins 0:bb2cacd02294 316 *
jdawkins 0:bb2cacd02294 317 * @return Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 318 */
jdawkins 0:bb2cacd02294 319 static inline uint32_t mavlink_msg_fused_imu_get_time_boot_ms(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 320 {
jdawkins 0:bb2cacd02294 321 return _MAV_RETURN_uint32_t(msg, 0);
jdawkins 0:bb2cacd02294 322 }
jdawkins 0:bb2cacd02294 323
jdawkins 0:bb2cacd02294 324 /**
jdawkins 0:bb2cacd02294 325 * @brief Get field accel_x from fused_imu message
jdawkins 0:bb2cacd02294 326 *
jdawkins 0:bb2cacd02294 327 * @return X acceleration (m/s^2)
jdawkins 0:bb2cacd02294 328 */
jdawkins 0:bb2cacd02294 329 static inline float mavlink_msg_fused_imu_get_accel_x(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 330 {
jdawkins 0:bb2cacd02294 331 return _MAV_RETURN_float(msg, 4);
jdawkins 0:bb2cacd02294 332 }
jdawkins 0:bb2cacd02294 333
jdawkins 0:bb2cacd02294 334 /**
jdawkins 0:bb2cacd02294 335 * @brief Get field accel_y from fused_imu message
jdawkins 0:bb2cacd02294 336 *
jdawkins 0:bb2cacd02294 337 * @return Y acceleration (m/s^2)
jdawkins 0:bb2cacd02294 338 */
jdawkins 0:bb2cacd02294 339 static inline float mavlink_msg_fused_imu_get_accel_y(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 340 {
jdawkins 0:bb2cacd02294 341 return _MAV_RETURN_float(msg, 8);
jdawkins 0:bb2cacd02294 342 }
jdawkins 0:bb2cacd02294 343
jdawkins 0:bb2cacd02294 344 /**
jdawkins 0:bb2cacd02294 345 * @brief Get field accel_z from fused_imu message
jdawkins 0:bb2cacd02294 346 *
jdawkins 0:bb2cacd02294 347 * @return Z acceleration (m/s^2)
jdawkins 0:bb2cacd02294 348 */
jdawkins 0:bb2cacd02294 349 static inline float mavlink_msg_fused_imu_get_accel_z(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 350 {
jdawkins 0:bb2cacd02294 351 return _MAV_RETURN_float(msg, 12);
jdawkins 0:bb2cacd02294 352 }
jdawkins 0:bb2cacd02294 353
jdawkins 0:bb2cacd02294 354 /**
jdawkins 0:bb2cacd02294 355 * @brief Get field gyro_x from fused_imu message
jdawkins 0:bb2cacd02294 356 *
jdawkins 0:bb2cacd02294 357 * @return Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 358 */
jdawkins 0:bb2cacd02294 359 static inline float mavlink_msg_fused_imu_get_gyro_x(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 360 {
jdawkins 0:bb2cacd02294 361 return _MAV_RETURN_float(msg, 16);
jdawkins 0:bb2cacd02294 362 }
jdawkins 0:bb2cacd02294 363
jdawkins 0:bb2cacd02294 364 /**
jdawkins 0:bb2cacd02294 365 * @brief Get field gyro_y from fused_imu message
jdawkins 0:bb2cacd02294 366 *
jdawkins 0:bb2cacd02294 367 * @return Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 368 */
jdawkins 0:bb2cacd02294 369 static inline float mavlink_msg_fused_imu_get_gyro_y(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 370 {
jdawkins 0:bb2cacd02294 371 return _MAV_RETURN_float(msg, 20);
jdawkins 0:bb2cacd02294 372 }
jdawkins 0:bb2cacd02294 373
jdawkins 0:bb2cacd02294 374 /**
jdawkins 0:bb2cacd02294 375 * @brief Get field gyro_z from fused_imu message
jdawkins 0:bb2cacd02294 376 *
jdawkins 0:bb2cacd02294 377 * @return Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 378 */
jdawkins 0:bb2cacd02294 379 static inline float mavlink_msg_fused_imu_get_gyro_z(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 380 {
jdawkins 0:bb2cacd02294 381 return _MAV_RETURN_float(msg, 24);
jdawkins 0:bb2cacd02294 382 }
jdawkins 0:bb2cacd02294 383
jdawkins 0:bb2cacd02294 384 /**
jdawkins 0:bb2cacd02294 385 * @brief Get field roll from fused_imu message
jdawkins 0:bb2cacd02294 386 *
jdawkins 0:bb2cacd02294 387 * @return Roll angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 388 */
jdawkins 0:bb2cacd02294 389 static inline float mavlink_msg_fused_imu_get_roll(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 390 {
jdawkins 0:bb2cacd02294 391 return _MAV_RETURN_float(msg, 28);
jdawkins 0:bb2cacd02294 392 }
jdawkins 0:bb2cacd02294 393
jdawkins 0:bb2cacd02294 394 /**
jdawkins 0:bb2cacd02294 395 * @brief Get field pitch from fused_imu message
jdawkins 0:bb2cacd02294 396 *
jdawkins 0:bb2cacd02294 397 * @return Pitch angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 398 */
jdawkins 0:bb2cacd02294 399 static inline float mavlink_msg_fused_imu_get_pitch(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 400 {
jdawkins 0:bb2cacd02294 401 return _MAV_RETURN_float(msg, 32);
jdawkins 0:bb2cacd02294 402 }
jdawkins 0:bb2cacd02294 403
jdawkins 0:bb2cacd02294 404 /**
jdawkins 0:bb2cacd02294 405 * @brief Get field yaw from fused_imu message
jdawkins 0:bb2cacd02294 406 *
jdawkins 0:bb2cacd02294 407 * @return Yaw angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 408 */
jdawkins 0:bb2cacd02294 409 static inline float mavlink_msg_fused_imu_get_yaw(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 410 {
jdawkins 0:bb2cacd02294 411 return _MAV_RETURN_float(msg, 36);
jdawkins 0:bb2cacd02294 412 }
jdawkins 0:bb2cacd02294 413
jdawkins 0:bb2cacd02294 414 /**
jdawkins 0:bb2cacd02294 415 * @brief Decode a fused_imu message into a struct
jdawkins 0:bb2cacd02294 416 *
jdawkins 0:bb2cacd02294 417 * @param msg The message to decode
jdawkins 0:bb2cacd02294 418 * @param fused_imu C-struct to decode the message contents into
jdawkins 0:bb2cacd02294 419 */
jdawkins 0:bb2cacd02294 420 static inline void mavlink_msg_fused_imu_decode(const mavlink_message_t* msg, mavlink_fused_imu_t* fused_imu)
jdawkins 0:bb2cacd02294 421 {
jdawkins 0:bb2cacd02294 422 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 423 fused_imu->time_boot_ms = mavlink_msg_fused_imu_get_time_boot_ms(msg);
jdawkins 0:bb2cacd02294 424 fused_imu->accel_x = mavlink_msg_fused_imu_get_accel_x(msg);
jdawkins 0:bb2cacd02294 425 fused_imu->accel_y = mavlink_msg_fused_imu_get_accel_y(msg);
jdawkins 0:bb2cacd02294 426 fused_imu->accel_z = mavlink_msg_fused_imu_get_accel_z(msg);
jdawkins 0:bb2cacd02294 427 fused_imu->gyro_x = mavlink_msg_fused_imu_get_gyro_x(msg);
jdawkins 0:bb2cacd02294 428 fused_imu->gyro_y = mavlink_msg_fused_imu_get_gyro_y(msg);
jdawkins 0:bb2cacd02294 429 fused_imu->gyro_z = mavlink_msg_fused_imu_get_gyro_z(msg);
jdawkins 0:bb2cacd02294 430 fused_imu->roll = mavlink_msg_fused_imu_get_roll(msg);
jdawkins 0:bb2cacd02294 431 fused_imu->pitch = mavlink_msg_fused_imu_get_pitch(msg);
jdawkins 0:bb2cacd02294 432 fused_imu->yaw = mavlink_msg_fused_imu_get_yaw(msg);
jdawkins 0:bb2cacd02294 433 #else
jdawkins 0:bb2cacd02294 434 uint8_t len = msg->len < MAVLINK_MSG_ID_FUSED_IMU_LEN? msg->len : MAVLINK_MSG_ID_FUSED_IMU_LEN;
jdawkins 0:bb2cacd02294 435 memset(fused_imu, 0, MAVLINK_MSG_ID_FUSED_IMU_LEN);
jdawkins 0:bb2cacd02294 436 memcpy(fused_imu, _MAV_PAYLOAD(msg), len);
jdawkins 0:bb2cacd02294 437 #endif
jdawkins 0:bb2cacd02294 438 }
jdawkins 0:bb2cacd02294 439