Emaxx Navigation Group / mavlink_emaxx

Mavlink Messages for Emaxx Nav Board

Dependents:   Madpulse_Speed_Control_temp Madpulse_Speed_Control_Students

emaxx_board/mavlink_msg_attitude.h@0:bb2cacd02294, 2017-01-20 (annotated)

Committer:
jdawkins
Date:
Fri Jan 20 13:20:58 2017 +0000
Revision:
0:bb2cacd02294
Initial Commit of Mavlink Messages for Emaxx Board custom messages for decawave ranging and bno055;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdawkins 0:bb2cacd02294 1 #pragma once
jdawkins 0:bb2cacd02294 2 // MESSAGE ATTITUDE PACKING
jdawkins 0:bb2cacd02294 3
jdawkins 0:bb2cacd02294 4 #define MAVLINK_MSG_ID_ATTITUDE 30
jdawkins 0:bb2cacd02294 5
jdawkins 0:bb2cacd02294 6 MAVPACKED(
jdawkins 0:bb2cacd02294 7 typedef struct __mavlink_attitude_t {
jdawkins 0:bb2cacd02294 8 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
jdawkins 0:bb2cacd02294 9 float roll; /*< Roll angle (rad, -pi..+pi)*/
jdawkins 0:bb2cacd02294 10 float pitch; /*< Pitch angle (rad, -pi..+pi)*/
jdawkins 0:bb2cacd02294 11 float yaw; /*< Yaw angle (rad, -pi..+pi)*/
jdawkins 0:bb2cacd02294 12 float rollspeed; /*< Roll angular speed (rad/s)*/
jdawkins 0:bb2cacd02294 13 float pitchspeed; /*< Pitch angular speed (rad/s)*/
jdawkins 0:bb2cacd02294 14 float yawspeed; /*< Yaw angular speed (rad/s)*/
jdawkins 0:bb2cacd02294 15 }) mavlink_attitude_t;
jdawkins 0:bb2cacd02294 16
jdawkins 0:bb2cacd02294 17 #define MAVLINK_MSG_ID_ATTITUDE_LEN 28
jdawkins 0:bb2cacd02294 18 #define MAVLINK_MSG_ID_ATTITUDE_MIN_LEN 28
jdawkins 0:bb2cacd02294 19 #define MAVLINK_MSG_ID_30_LEN 28
jdawkins 0:bb2cacd02294 20 #define MAVLINK_MSG_ID_30_MIN_LEN 28
jdawkins 0:bb2cacd02294 21
jdawkins 0:bb2cacd02294 22 #define MAVLINK_MSG_ID_ATTITUDE_CRC 39
jdawkins 0:bb2cacd02294 23 #define MAVLINK_MSG_ID_30_CRC 39
jdawkins 0:bb2cacd02294 24
jdawkins 0:bb2cacd02294 25
jdawkins 0:bb2cacd02294 26
jdawkins 0:bb2cacd02294 27 #if MAVLINK_COMMAND_24BIT
jdawkins 0:bb2cacd02294 28 #define MAVLINK_MESSAGE_INFO_ATTITUDE { \
jdawkins 0:bb2cacd02294 29 30, \
jdawkins 0:bb2cacd02294 30 "ATTITUDE", \
jdawkins 0:bb2cacd02294 31 7, \
jdawkins 0:bb2cacd02294 32 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
jdawkins 0:bb2cacd02294 33 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
jdawkins 0:bb2cacd02294 34 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
jdawkins 0:bb2cacd02294 35 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
jdawkins 0:bb2cacd02294 36 { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
jdawkins 0:bb2cacd02294 37 { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
jdawkins 0:bb2cacd02294 38 { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
jdawkins 0:bb2cacd02294 39 } \
jdawkins 0:bb2cacd02294 40 }
jdawkins 0:bb2cacd02294 41 #else
jdawkins 0:bb2cacd02294 42 #define MAVLINK_MESSAGE_INFO_ATTITUDE { \
jdawkins 0:bb2cacd02294 43 "ATTITUDE", \
jdawkins 0:bb2cacd02294 44 7, \
jdawkins 0:bb2cacd02294 45 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
jdawkins 0:bb2cacd02294 46 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
jdawkins 0:bb2cacd02294 47 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
jdawkins 0:bb2cacd02294 48 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
jdawkins 0:bb2cacd02294 49 { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
jdawkins 0:bb2cacd02294 50 { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
jdawkins 0:bb2cacd02294 51 { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
jdawkins 0:bb2cacd02294 52 } \
jdawkins 0:bb2cacd02294 53 }
jdawkins 0:bb2cacd02294 54 #endif
jdawkins 0:bb2cacd02294 55
jdawkins 0:bb2cacd02294 56 /**
jdawkins 0:bb2cacd02294 57 * @brief Pack a attitude message
jdawkins 0:bb2cacd02294 58 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 59 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 60 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 61 *
jdawkins 0:bb2cacd02294 62 * @param time_boot_ms Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 63 * @param roll Roll angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 64 * @param pitch Pitch angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 65 * @param yaw Yaw angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 66 * @param rollspeed Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 67 * @param pitchspeed Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 68 * @param yawspeed Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 69 * @return length of the message in bytes (excluding serial stream start sign)
jdawkins 0:bb2cacd02294 70 */
jdawkins 0:bb2cacd02294 71 static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
jdawkins 0:bb2cacd02294 72 uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
jdawkins 0:bb2cacd02294 73 {
jdawkins 0:bb2cacd02294 74 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 75 char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
jdawkins 0:bb2cacd02294 76 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 77 _mav_put_float(buf, 4, roll);
jdawkins 0:bb2cacd02294 78 _mav_put_float(buf, 8, pitch);
jdawkins 0:bb2cacd02294 79 _mav_put_float(buf, 12, yaw);
jdawkins 0:bb2cacd02294 80 _mav_put_float(buf, 16, rollspeed);
jdawkins 0:bb2cacd02294 81 _mav_put_float(buf, 20, pitchspeed);
jdawkins 0:bb2cacd02294 82 _mav_put_float(buf, 24, yawspeed);
jdawkins 0:bb2cacd02294 83
jdawkins 0:bb2cacd02294 84 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
jdawkins 0:bb2cacd02294 85 #else
jdawkins 0:bb2cacd02294 86 mavlink_attitude_t packet;
jdawkins 0:bb2cacd02294 87 packet.time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 88 packet.roll = roll;
jdawkins 0:bb2cacd02294 89 packet.pitch = pitch;
jdawkins 0:bb2cacd02294 90 packet.yaw = yaw;
jdawkins 0:bb2cacd02294 91 packet.rollspeed = rollspeed;
jdawkins 0:bb2cacd02294 92 packet.pitchspeed = pitchspeed;
jdawkins 0:bb2cacd02294 93 packet.yawspeed = yawspeed;
jdawkins 0:bb2cacd02294 94
jdawkins 0:bb2cacd02294 95 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
jdawkins 0:bb2cacd02294 96 #endif
jdawkins 0:bb2cacd02294 97
jdawkins 0:bb2cacd02294 98 msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
jdawkins 0:bb2cacd02294 99 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
jdawkins 0:bb2cacd02294 100 }
jdawkins 0:bb2cacd02294 101
jdawkins 0:bb2cacd02294 102 /**
jdawkins 0:bb2cacd02294 103 * @brief Pack a attitude message on a channel
jdawkins 0:bb2cacd02294 104 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 105 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 106 * @param chan The MAVLink channel this message will be sent over
jdawkins 0:bb2cacd02294 107 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 108 * @param time_boot_ms Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 109 * @param roll Roll angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 110 * @param pitch Pitch angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 111 * @param yaw Yaw angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 112 * @param rollspeed Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 113 * @param pitchspeed Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 114 * @param yawspeed Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 115 * @return length of the message in bytes (excluding serial stream start sign)
jdawkins 0:bb2cacd02294 116 */
jdawkins 0:bb2cacd02294 117 static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
jdawkins 0:bb2cacd02294 118 mavlink_message_t* msg,
jdawkins 0:bb2cacd02294 119 uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
jdawkins 0:bb2cacd02294 120 {
jdawkins 0:bb2cacd02294 121 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 122 char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
jdawkins 0:bb2cacd02294 123 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 124 _mav_put_float(buf, 4, roll);
jdawkins 0:bb2cacd02294 125 _mav_put_float(buf, 8, pitch);
jdawkins 0:bb2cacd02294 126 _mav_put_float(buf, 12, yaw);
jdawkins 0:bb2cacd02294 127 _mav_put_float(buf, 16, rollspeed);
jdawkins 0:bb2cacd02294 128 _mav_put_float(buf, 20, pitchspeed);
jdawkins 0:bb2cacd02294 129 _mav_put_float(buf, 24, yawspeed);
jdawkins 0:bb2cacd02294 130
jdawkins 0:bb2cacd02294 131 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
jdawkins 0:bb2cacd02294 132 #else
jdawkins 0:bb2cacd02294 133 mavlink_attitude_t packet;
jdawkins 0:bb2cacd02294 134 packet.time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 135 packet.roll = roll;
jdawkins 0:bb2cacd02294 136 packet.pitch = pitch;
jdawkins 0:bb2cacd02294 137 packet.yaw = yaw;
jdawkins 0:bb2cacd02294 138 packet.rollspeed = rollspeed;
jdawkins 0:bb2cacd02294 139 packet.pitchspeed = pitchspeed;
jdawkins 0:bb2cacd02294 140 packet.yawspeed = yawspeed;
jdawkins 0:bb2cacd02294 141
jdawkins 0:bb2cacd02294 142 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
jdawkins 0:bb2cacd02294 143 #endif
jdawkins 0:bb2cacd02294 144
jdawkins 0:bb2cacd02294 145 msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
jdawkins 0:bb2cacd02294 146 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
jdawkins 0:bb2cacd02294 147 }
jdawkins 0:bb2cacd02294 148
jdawkins 0:bb2cacd02294 149 /**
jdawkins 0:bb2cacd02294 150 * @brief Encode a attitude struct
jdawkins 0:bb2cacd02294 151 *
jdawkins 0:bb2cacd02294 152 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 153 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 154 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 155 * @param attitude C-struct to read the message contents from
jdawkins 0:bb2cacd02294 156 */
jdawkins 0:bb2cacd02294 157 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)
jdawkins 0:bb2cacd02294 158 {
jdawkins 0:bb2cacd02294 159 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);
jdawkins 0:bb2cacd02294 160 }
jdawkins 0:bb2cacd02294 161
jdawkins 0:bb2cacd02294 162 /**
jdawkins 0:bb2cacd02294 163 * @brief Encode a attitude struct on a channel
jdawkins 0:bb2cacd02294 164 *
jdawkins 0:bb2cacd02294 165 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 166 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 167 * @param chan The MAVLink channel this message will be sent over
jdawkins 0:bb2cacd02294 168 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 169 * @param attitude C-struct to read the message contents from
jdawkins 0:bb2cacd02294 170 */
jdawkins 0:bb2cacd02294 171 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)
jdawkins 0:bb2cacd02294 172 {
jdawkins 0:bb2cacd02294 173 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);
jdawkins 0:bb2cacd02294 174 }
jdawkins 0:bb2cacd02294 175
jdawkins 0:bb2cacd02294 176 /**
jdawkins 0:bb2cacd02294 177 * @brief Send a attitude message
jdawkins 0:bb2cacd02294 178 * @param chan MAVLink channel to send the message
jdawkins 0:bb2cacd02294 179 *
jdawkins 0:bb2cacd02294 180 * @param time_boot_ms Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 181 * @param roll Roll angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 182 * @param pitch Pitch angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 183 * @param yaw Yaw angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 184 * @param rollspeed Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 185 * @param pitchspeed Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 186 * @param yawspeed Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 187 */
jdawkins 0:bb2cacd02294 188 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
jdawkins 0:bb2cacd02294 189
jdawkins 0:bb2cacd02294 190 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)
jdawkins 0:bb2cacd02294 191 {
jdawkins 0:bb2cacd02294 192 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 193 char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
jdawkins 0:bb2cacd02294 194 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 195 _mav_put_float(buf, 4, roll);
jdawkins 0:bb2cacd02294 196 _mav_put_float(buf, 8, pitch);
jdawkins 0:bb2cacd02294 197 _mav_put_float(buf, 12, yaw);
jdawkins 0:bb2cacd02294 198 _mav_put_float(buf, 16, rollspeed);
jdawkins 0:bb2cacd02294 199 _mav_put_float(buf, 20, pitchspeed);
jdawkins 0:bb2cacd02294 200 _mav_put_float(buf, 24, yawspeed);
jdawkins 0:bb2cacd02294 201
jdawkins 0:bb2cacd02294 202 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
jdawkins 0:bb2cacd02294 203 #else
jdawkins 0:bb2cacd02294 204 mavlink_attitude_t packet;
jdawkins 0:bb2cacd02294 205 packet.time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 206 packet.roll = roll;
jdawkins 0:bb2cacd02294 207 packet.pitch = pitch;
jdawkins 0:bb2cacd02294 208 packet.yaw = yaw;
jdawkins 0:bb2cacd02294 209 packet.rollspeed = rollspeed;
jdawkins 0:bb2cacd02294 210 packet.pitchspeed = pitchspeed;
jdawkins 0:bb2cacd02294 211 packet.yawspeed = yawspeed;
jdawkins 0:bb2cacd02294 212
jdawkins 0:bb2cacd02294 213 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
jdawkins 0:bb2cacd02294 214 #endif
jdawkins 0:bb2cacd02294 215 }
jdawkins 0:bb2cacd02294 216
jdawkins 0:bb2cacd02294 217 /**
jdawkins 0:bb2cacd02294 218 * @brief Send a attitude message
jdawkins 0:bb2cacd02294 219 * @param chan MAVLink channel to send the message
jdawkins 0:bb2cacd02294 220 * @param struct The MAVLink struct to serialize
jdawkins 0:bb2cacd02294 221 */
jdawkins 0:bb2cacd02294 222 static inline void mavlink_msg_attitude_send_struct(mavlink_channel_t chan, const mavlink_attitude_t* attitude)
jdawkins 0:bb2cacd02294 223 {
jdawkins 0:bb2cacd02294 224 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 225 mavlink_msg_attitude_send(chan, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
jdawkins 0:bb2cacd02294 226 #else
jdawkins 0:bb2cacd02294 227 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)attitude, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
jdawkins 0:bb2cacd02294 228 #endif
jdawkins 0:bb2cacd02294 229 }
jdawkins 0:bb2cacd02294 230
jdawkins 0:bb2cacd02294 231 #if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
jdawkins 0:bb2cacd02294 232 /*
jdawkins 0:bb2cacd02294 233 This varient of _send() can be used to save stack space by re-using
jdawkins 0:bb2cacd02294 234 memory from the receive buffer. The caller provides a
jdawkins 0:bb2cacd02294 235 mavlink_message_t which is the size of a full mavlink message. This
jdawkins 0:bb2cacd02294 236 is usually the receive buffer for the channel, and allows a reply to an
jdawkins 0:bb2cacd02294 237 incoming message with minimum stack space usage.
jdawkins 0:bb2cacd02294 238 */
jdawkins 0:bb2cacd02294 239 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)
jdawkins 0:bb2cacd02294 240 {
jdawkins 0:bb2cacd02294 241 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 242 char *buf = (char *)msgbuf;
jdawkins 0:bb2cacd02294 243 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 244 _mav_put_float(buf, 4, roll);
jdawkins 0:bb2cacd02294 245 _mav_put_float(buf, 8, pitch);
jdawkins 0:bb2cacd02294 246 _mav_put_float(buf, 12, yaw);
jdawkins 0:bb2cacd02294 247 _mav_put_float(buf, 16, rollspeed);
jdawkins 0:bb2cacd02294 248 _mav_put_float(buf, 20, pitchspeed);
jdawkins 0:bb2cacd02294 249 _mav_put_float(buf, 24, yawspeed);
jdawkins 0:bb2cacd02294 250
jdawkins 0:bb2cacd02294 251 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
jdawkins 0:bb2cacd02294 252 #else
jdawkins 0:bb2cacd02294 253 mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
jdawkins 0:bb2cacd02294 254 packet->time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 255 packet->roll = roll;
jdawkins 0:bb2cacd02294 256 packet->pitch = pitch;
jdawkins 0:bb2cacd02294 257 packet->yaw = yaw;
jdawkins 0:bb2cacd02294 258 packet->rollspeed = rollspeed;
jdawkins 0:bb2cacd02294 259 packet->pitchspeed = pitchspeed;
jdawkins 0:bb2cacd02294 260 packet->yawspeed = yawspeed;
jdawkins 0:bb2cacd02294 261
jdawkins 0:bb2cacd02294 262 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
jdawkins 0:bb2cacd02294 263 #endif
jdawkins 0:bb2cacd02294 264 }
jdawkins 0:bb2cacd02294 265 #endif
jdawkins 0:bb2cacd02294 266
jdawkins 0:bb2cacd02294 267 #endif
jdawkins 0:bb2cacd02294 268
jdawkins 0:bb2cacd02294 269 // MESSAGE ATTITUDE UNPACKING
jdawkins 0:bb2cacd02294 270
jdawkins 0:bb2cacd02294 271
jdawkins 0:bb2cacd02294 272 /**
jdawkins 0:bb2cacd02294 273 * @brief Get field time_boot_ms from attitude message
jdawkins 0:bb2cacd02294 274 *
jdawkins 0:bb2cacd02294 275 * @return Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 276 */
jdawkins 0:bb2cacd02294 277 static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 278 {
jdawkins 0:bb2cacd02294 279 return _MAV_RETURN_uint32_t(msg, 0);
jdawkins 0:bb2cacd02294 280 }
jdawkins 0:bb2cacd02294 281
jdawkins 0:bb2cacd02294 282 /**
jdawkins 0:bb2cacd02294 283 * @brief Get field roll from attitude message
jdawkins 0:bb2cacd02294 284 *
jdawkins 0:bb2cacd02294 285 * @return Roll angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 286 */
jdawkins 0:bb2cacd02294 287 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 288 {
jdawkins 0:bb2cacd02294 289 return _MAV_RETURN_float(msg, 4);
jdawkins 0:bb2cacd02294 290 }
jdawkins 0:bb2cacd02294 291
jdawkins 0:bb2cacd02294 292 /**
jdawkins 0:bb2cacd02294 293 * @brief Get field pitch from attitude message
jdawkins 0:bb2cacd02294 294 *
jdawkins 0:bb2cacd02294 295 * @return Pitch angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 296 */
jdawkins 0:bb2cacd02294 297 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 298 {
jdawkins 0:bb2cacd02294 299 return _MAV_RETURN_float(msg, 8);
jdawkins 0:bb2cacd02294 300 }
jdawkins 0:bb2cacd02294 301
jdawkins 0:bb2cacd02294 302 /**
jdawkins 0:bb2cacd02294 303 * @brief Get field yaw from attitude message
jdawkins 0:bb2cacd02294 304 *
jdawkins 0:bb2cacd02294 305 * @return Yaw angle (rad, -pi..+pi)
jdawkins 0:bb2cacd02294 306 */
jdawkins 0:bb2cacd02294 307 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 308 {
jdawkins 0:bb2cacd02294 309 return _MAV_RETURN_float(msg, 12);
jdawkins 0:bb2cacd02294 310 }
jdawkins 0:bb2cacd02294 311
jdawkins 0:bb2cacd02294 312 /**
jdawkins 0:bb2cacd02294 313 * @brief Get field rollspeed from attitude message
jdawkins 0:bb2cacd02294 314 *
jdawkins 0:bb2cacd02294 315 * @return Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 316 */
jdawkins 0:bb2cacd02294 317 static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 318 {
jdawkins 0:bb2cacd02294 319 return _MAV_RETURN_float(msg, 16);
jdawkins 0:bb2cacd02294 320 }
jdawkins 0:bb2cacd02294 321
jdawkins 0:bb2cacd02294 322 /**
jdawkins 0:bb2cacd02294 323 * @brief Get field pitchspeed from attitude message
jdawkins 0:bb2cacd02294 324 *
jdawkins 0:bb2cacd02294 325 * @return Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 326 */
jdawkins 0:bb2cacd02294 327 static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 328 {
jdawkins 0:bb2cacd02294 329 return _MAV_RETURN_float(msg, 20);
jdawkins 0:bb2cacd02294 330 }
jdawkins 0:bb2cacd02294 331
jdawkins 0:bb2cacd02294 332 /**
jdawkins 0:bb2cacd02294 333 * @brief Get field yawspeed from attitude message
jdawkins 0:bb2cacd02294 334 *
jdawkins 0:bb2cacd02294 335 * @return Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 336 */
jdawkins 0:bb2cacd02294 337 static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 338 {
jdawkins 0:bb2cacd02294 339 return _MAV_RETURN_float(msg, 24);
jdawkins 0:bb2cacd02294 340 }
jdawkins 0:bb2cacd02294 341
jdawkins 0:bb2cacd02294 342 /**
jdawkins 0:bb2cacd02294 343 * @brief Decode a attitude message into a struct
jdawkins 0:bb2cacd02294 344 *
jdawkins 0:bb2cacd02294 345 * @param msg The message to decode
jdawkins 0:bb2cacd02294 346 * @param attitude C-struct to decode the message contents into
jdawkins 0:bb2cacd02294 347 */
jdawkins 0:bb2cacd02294 348 static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
jdawkins 0:bb2cacd02294 349 {
jdawkins 0:bb2cacd02294 350 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 351 attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
jdawkins 0:bb2cacd02294 352 attitude->roll = mavlink_msg_attitude_get_roll(msg);
jdawkins 0:bb2cacd02294 353 attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
jdawkins 0:bb2cacd02294 354 attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
jdawkins 0:bb2cacd02294 355 attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
jdawkins 0:bb2cacd02294 356 attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
jdawkins 0:bb2cacd02294 357 attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
jdawkins 0:bb2cacd02294 358 #else
jdawkins 0:bb2cacd02294 359 uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_LEN;
jdawkins 0:bb2cacd02294 360 memset(attitude, 0, MAVLINK_MSG_ID_ATTITUDE_LEN);
jdawkins 0:bb2cacd02294 361 memcpy(attitude, _MAV_PAYLOAD(msg), len);
jdawkins 0:bb2cacd02294 362 #endif
jdawkins 0:bb2cacd02294 363 }
jdawkins 0:bb2cacd02294 364