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_quaternion.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_QUATERNION PACKING
jdawkins 0:bb2cacd02294 3
jdawkins 0:bb2cacd02294 4 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31
jdawkins 0:bb2cacd02294 5
jdawkins 0:bb2cacd02294 6 MAVPACKED(
jdawkins 0:bb2cacd02294 7 typedef struct __mavlink_attitude_quaternion_t {
jdawkins 0:bb2cacd02294 8 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
jdawkins 0:bb2cacd02294 9 float q1; /*< Quaternion component 1, w (1 in null-rotation)*/
jdawkins 0:bb2cacd02294 10 float q2; /*< Quaternion component 2, x (0 in null-rotation)*/
jdawkins 0:bb2cacd02294 11 float q3; /*< Quaternion component 3, y (0 in null-rotation)*/
jdawkins 0:bb2cacd02294 12 float q4; /*< Quaternion component 4, z (0 in null-rotation)*/
jdawkins 0:bb2cacd02294 13 float rollspeed; /*< Roll angular speed (rad/s)*/
jdawkins 0:bb2cacd02294 14 float pitchspeed; /*< Pitch angular speed (rad/s)*/
jdawkins 0:bb2cacd02294 15 float yawspeed; /*< Yaw angular speed (rad/s)*/
jdawkins 0:bb2cacd02294 16 }) mavlink_attitude_quaternion_t;
jdawkins 0:bb2cacd02294 17
jdawkins 0:bb2cacd02294 18 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
jdawkins 0:bb2cacd02294 19 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN 32
jdawkins 0:bb2cacd02294 20 #define MAVLINK_MSG_ID_31_LEN 32
jdawkins 0:bb2cacd02294 21 #define MAVLINK_MSG_ID_31_MIN_LEN 32
jdawkins 0:bb2cacd02294 22
jdawkins 0:bb2cacd02294 23 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC 246
jdawkins 0:bb2cacd02294 24 #define MAVLINK_MSG_ID_31_CRC 246
jdawkins 0:bb2cacd02294 25
jdawkins 0:bb2cacd02294 26
jdawkins 0:bb2cacd02294 27
jdawkins 0:bb2cacd02294 28 #if MAVLINK_COMMAND_24BIT
jdawkins 0:bb2cacd02294 29 #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
jdawkins 0:bb2cacd02294 30 31, \
jdawkins 0:bb2cacd02294 31 "ATTITUDE_QUATERNION", \
jdawkins 0:bb2cacd02294 32 8, \
jdawkins 0:bb2cacd02294 33 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
jdawkins 0:bb2cacd02294 34 { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
jdawkins 0:bb2cacd02294 35 { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
jdawkins 0:bb2cacd02294 36 { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
jdawkins 0:bb2cacd02294 37 { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
jdawkins 0:bb2cacd02294 38 { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
jdawkins 0:bb2cacd02294 39 { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
jdawkins 0:bb2cacd02294 40 { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
jdawkins 0:bb2cacd02294 41 } \
jdawkins 0:bb2cacd02294 42 }
jdawkins 0:bb2cacd02294 43 #else
jdawkins 0:bb2cacd02294 44 #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
jdawkins 0:bb2cacd02294 45 "ATTITUDE_QUATERNION", \
jdawkins 0:bb2cacd02294 46 8, \
jdawkins 0:bb2cacd02294 47 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
jdawkins 0:bb2cacd02294 48 { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
jdawkins 0:bb2cacd02294 49 { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
jdawkins 0:bb2cacd02294 50 { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
jdawkins 0:bb2cacd02294 51 { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
jdawkins 0:bb2cacd02294 52 { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
jdawkins 0:bb2cacd02294 53 { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
jdawkins 0:bb2cacd02294 54 { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
jdawkins 0:bb2cacd02294 55 } \
jdawkins 0:bb2cacd02294 56 }
jdawkins 0:bb2cacd02294 57 #endif
jdawkins 0:bb2cacd02294 58
jdawkins 0:bb2cacd02294 59 /**
jdawkins 0:bb2cacd02294 60 * @brief Pack a attitude_quaternion message
jdawkins 0:bb2cacd02294 61 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 62 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 63 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 64 *
jdawkins 0:bb2cacd02294 65 * @param time_boot_ms Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 66 * @param q1 Quaternion component 1, w (1 in null-rotation)
jdawkins 0:bb2cacd02294 67 * @param q2 Quaternion component 2, x (0 in null-rotation)
jdawkins 0:bb2cacd02294 68 * @param q3 Quaternion component 3, y (0 in null-rotation)
jdawkins 0:bb2cacd02294 69 * @param q4 Quaternion component 4, z (0 in null-rotation)
jdawkins 0:bb2cacd02294 70 * @param rollspeed Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 71 * @param pitchspeed Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 72 * @param yawspeed Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 73 * @return length of the message in bytes (excluding serial stream start sign)
jdawkins 0:bb2cacd02294 74 */
jdawkins 0:bb2cacd02294 75 static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
jdawkins 0:bb2cacd02294 76 uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
jdawkins 0:bb2cacd02294 77 {
jdawkins 0:bb2cacd02294 78 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 79 char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
jdawkins 0:bb2cacd02294 80 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 81 _mav_put_float(buf, 4, q1);
jdawkins 0:bb2cacd02294 82 _mav_put_float(buf, 8, q2);
jdawkins 0:bb2cacd02294 83 _mav_put_float(buf, 12, q3);
jdawkins 0:bb2cacd02294 84 _mav_put_float(buf, 16, q4);
jdawkins 0:bb2cacd02294 85 _mav_put_float(buf, 20, rollspeed);
jdawkins 0:bb2cacd02294 86 _mav_put_float(buf, 24, pitchspeed);
jdawkins 0:bb2cacd02294 87 _mav_put_float(buf, 28, yawspeed);
jdawkins 0:bb2cacd02294 88
jdawkins 0:bb2cacd02294 89 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
jdawkins 0:bb2cacd02294 90 #else
jdawkins 0:bb2cacd02294 91 mavlink_attitude_quaternion_t packet;
jdawkins 0:bb2cacd02294 92 packet.time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 93 packet.q1 = q1;
jdawkins 0:bb2cacd02294 94 packet.q2 = q2;
jdawkins 0:bb2cacd02294 95 packet.q3 = q3;
jdawkins 0:bb2cacd02294 96 packet.q4 = q4;
jdawkins 0:bb2cacd02294 97 packet.rollspeed = rollspeed;
jdawkins 0:bb2cacd02294 98 packet.pitchspeed = pitchspeed;
jdawkins 0:bb2cacd02294 99 packet.yawspeed = yawspeed;
jdawkins 0:bb2cacd02294 100
jdawkins 0:bb2cacd02294 101 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
jdawkins 0:bb2cacd02294 102 #endif
jdawkins 0:bb2cacd02294 103
jdawkins 0:bb2cacd02294 104 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
jdawkins 0:bb2cacd02294 105 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
jdawkins 0:bb2cacd02294 106 }
jdawkins 0:bb2cacd02294 107
jdawkins 0:bb2cacd02294 108 /**
jdawkins 0:bb2cacd02294 109 * @brief Pack a attitude_quaternion message on a channel
jdawkins 0:bb2cacd02294 110 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 111 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 112 * @param chan The MAVLink channel this message will be sent over
jdawkins 0:bb2cacd02294 113 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 114 * @param time_boot_ms Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 115 * @param q1 Quaternion component 1, w (1 in null-rotation)
jdawkins 0:bb2cacd02294 116 * @param q2 Quaternion component 2, x (0 in null-rotation)
jdawkins 0:bb2cacd02294 117 * @param q3 Quaternion component 3, y (0 in null-rotation)
jdawkins 0:bb2cacd02294 118 * @param q4 Quaternion component 4, z (0 in null-rotation)
jdawkins 0:bb2cacd02294 119 * @param rollspeed Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 120 * @param pitchspeed Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 121 * @param yawspeed Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 122 * @return length of the message in bytes (excluding serial stream start sign)
jdawkins 0:bb2cacd02294 123 */
jdawkins 0:bb2cacd02294 124 static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
jdawkins 0:bb2cacd02294 125 mavlink_message_t* msg,
jdawkins 0:bb2cacd02294 126 uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed)
jdawkins 0:bb2cacd02294 127 {
jdawkins 0:bb2cacd02294 128 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 129 char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
jdawkins 0:bb2cacd02294 130 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 131 _mav_put_float(buf, 4, q1);
jdawkins 0:bb2cacd02294 132 _mav_put_float(buf, 8, q2);
jdawkins 0:bb2cacd02294 133 _mav_put_float(buf, 12, q3);
jdawkins 0:bb2cacd02294 134 _mav_put_float(buf, 16, q4);
jdawkins 0:bb2cacd02294 135 _mav_put_float(buf, 20, rollspeed);
jdawkins 0:bb2cacd02294 136 _mav_put_float(buf, 24, pitchspeed);
jdawkins 0:bb2cacd02294 137 _mav_put_float(buf, 28, yawspeed);
jdawkins 0:bb2cacd02294 138
jdawkins 0:bb2cacd02294 139 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
jdawkins 0:bb2cacd02294 140 #else
jdawkins 0:bb2cacd02294 141 mavlink_attitude_quaternion_t packet;
jdawkins 0:bb2cacd02294 142 packet.time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 143 packet.q1 = q1;
jdawkins 0:bb2cacd02294 144 packet.q2 = q2;
jdawkins 0:bb2cacd02294 145 packet.q3 = q3;
jdawkins 0:bb2cacd02294 146 packet.q4 = q4;
jdawkins 0:bb2cacd02294 147 packet.rollspeed = rollspeed;
jdawkins 0:bb2cacd02294 148 packet.pitchspeed = pitchspeed;
jdawkins 0:bb2cacd02294 149 packet.yawspeed = yawspeed;
jdawkins 0:bb2cacd02294 150
jdawkins 0:bb2cacd02294 151 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
jdawkins 0:bb2cacd02294 152 #endif
jdawkins 0:bb2cacd02294 153
jdawkins 0:bb2cacd02294 154 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
jdawkins 0:bb2cacd02294 155 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
jdawkins 0:bb2cacd02294 156 }
jdawkins 0:bb2cacd02294 157
jdawkins 0:bb2cacd02294 158 /**
jdawkins 0:bb2cacd02294 159 * @brief Encode a attitude_quaternion struct
jdawkins 0:bb2cacd02294 160 *
jdawkins 0:bb2cacd02294 161 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 162 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 163 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 164 * @param attitude_quaternion C-struct to read the message contents from
jdawkins 0:bb2cacd02294 165 */
jdawkins 0:bb2cacd02294 166 static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
jdawkins 0:bb2cacd02294 167 {
jdawkins 0:bb2cacd02294 168 return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
jdawkins 0:bb2cacd02294 169 }
jdawkins 0:bb2cacd02294 170
jdawkins 0:bb2cacd02294 171 /**
jdawkins 0:bb2cacd02294 172 * @brief Encode a attitude_quaternion struct on a channel
jdawkins 0:bb2cacd02294 173 *
jdawkins 0:bb2cacd02294 174 * @param system_id ID of this system
jdawkins 0:bb2cacd02294 175 * @param component_id ID of this component (e.g. 200 for IMU)
jdawkins 0:bb2cacd02294 176 * @param chan The MAVLink channel this message will be sent over
jdawkins 0:bb2cacd02294 177 * @param msg The MAVLink message to compress the data into
jdawkins 0:bb2cacd02294 178 * @param attitude_quaternion C-struct to read the message contents from
jdawkins 0:bb2cacd02294 179 */
jdawkins 0:bb2cacd02294 180 static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
jdawkins 0:bb2cacd02294 181 {
jdawkins 0:bb2cacd02294 182 return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
jdawkins 0:bb2cacd02294 183 }
jdawkins 0:bb2cacd02294 184
jdawkins 0:bb2cacd02294 185 /**
jdawkins 0:bb2cacd02294 186 * @brief Send a attitude_quaternion message
jdawkins 0:bb2cacd02294 187 * @param chan MAVLink channel to send the message
jdawkins 0:bb2cacd02294 188 *
jdawkins 0:bb2cacd02294 189 * @param time_boot_ms Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 190 * @param q1 Quaternion component 1, w (1 in null-rotation)
jdawkins 0:bb2cacd02294 191 * @param q2 Quaternion component 2, x (0 in null-rotation)
jdawkins 0:bb2cacd02294 192 * @param q3 Quaternion component 3, y (0 in null-rotation)
jdawkins 0:bb2cacd02294 193 * @param q4 Quaternion component 4, z (0 in null-rotation)
jdawkins 0:bb2cacd02294 194 * @param rollspeed Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 195 * @param pitchspeed Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 196 * @param yawspeed Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 197 */
jdawkins 0:bb2cacd02294 198 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
jdawkins 0:bb2cacd02294 199
jdawkins 0:bb2cacd02294 200 static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
jdawkins 0:bb2cacd02294 201 {
jdawkins 0:bb2cacd02294 202 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 203 char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
jdawkins 0:bb2cacd02294 204 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 205 _mav_put_float(buf, 4, q1);
jdawkins 0:bb2cacd02294 206 _mav_put_float(buf, 8, q2);
jdawkins 0:bb2cacd02294 207 _mav_put_float(buf, 12, q3);
jdawkins 0:bb2cacd02294 208 _mav_put_float(buf, 16, q4);
jdawkins 0:bb2cacd02294 209 _mav_put_float(buf, 20, rollspeed);
jdawkins 0:bb2cacd02294 210 _mav_put_float(buf, 24, pitchspeed);
jdawkins 0:bb2cacd02294 211 _mav_put_float(buf, 28, yawspeed);
jdawkins 0:bb2cacd02294 212
jdawkins 0:bb2cacd02294 213 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
jdawkins 0:bb2cacd02294 214 #else
jdawkins 0:bb2cacd02294 215 mavlink_attitude_quaternion_t packet;
jdawkins 0:bb2cacd02294 216 packet.time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 217 packet.q1 = q1;
jdawkins 0:bb2cacd02294 218 packet.q2 = q2;
jdawkins 0:bb2cacd02294 219 packet.q3 = q3;
jdawkins 0:bb2cacd02294 220 packet.q4 = q4;
jdawkins 0:bb2cacd02294 221 packet.rollspeed = rollspeed;
jdawkins 0:bb2cacd02294 222 packet.pitchspeed = pitchspeed;
jdawkins 0:bb2cacd02294 223 packet.yawspeed = yawspeed;
jdawkins 0:bb2cacd02294 224
jdawkins 0:bb2cacd02294 225 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
jdawkins 0:bb2cacd02294 226 #endif
jdawkins 0:bb2cacd02294 227 }
jdawkins 0:bb2cacd02294 228
jdawkins 0:bb2cacd02294 229 /**
jdawkins 0:bb2cacd02294 230 * @brief Send a attitude_quaternion message
jdawkins 0:bb2cacd02294 231 * @param chan MAVLink channel to send the message
jdawkins 0:bb2cacd02294 232 * @param struct The MAVLink struct to serialize
jdawkins 0:bb2cacd02294 233 */
jdawkins 0:bb2cacd02294 234 static inline void mavlink_msg_attitude_quaternion_send_struct(mavlink_channel_t chan, const mavlink_attitude_quaternion_t* attitude_quaternion)
jdawkins 0:bb2cacd02294 235 {
jdawkins 0:bb2cacd02294 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 237 mavlink_msg_attitude_quaternion_send(chan, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
jdawkins 0:bb2cacd02294 238 #else
jdawkins 0:bb2cacd02294 239 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)attitude_quaternion, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
jdawkins 0:bb2cacd02294 240 #endif
jdawkins 0:bb2cacd02294 241 }
jdawkins 0:bb2cacd02294 242
jdawkins 0:bb2cacd02294 243 #if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
jdawkins 0:bb2cacd02294 244 /*
jdawkins 0:bb2cacd02294 245 This varient of _send() can be used to save stack space by re-using
jdawkins 0:bb2cacd02294 246 memory from the receive buffer. The caller provides a
jdawkins 0:bb2cacd02294 247 mavlink_message_t which is the size of a full mavlink message. This
jdawkins 0:bb2cacd02294 248 is usually the receive buffer for the channel, and allows a reply to an
jdawkins 0:bb2cacd02294 249 incoming message with minimum stack space usage.
jdawkins 0:bb2cacd02294 250 */
jdawkins 0:bb2cacd02294 251 static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
jdawkins 0:bb2cacd02294 252 {
jdawkins 0:bb2cacd02294 253 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 254 char *buf = (char *)msgbuf;
jdawkins 0:bb2cacd02294 255 _mav_put_uint32_t(buf, 0, time_boot_ms);
jdawkins 0:bb2cacd02294 256 _mav_put_float(buf, 4, q1);
jdawkins 0:bb2cacd02294 257 _mav_put_float(buf, 8, q2);
jdawkins 0:bb2cacd02294 258 _mav_put_float(buf, 12, q3);
jdawkins 0:bb2cacd02294 259 _mav_put_float(buf, 16, q4);
jdawkins 0:bb2cacd02294 260 _mav_put_float(buf, 20, rollspeed);
jdawkins 0:bb2cacd02294 261 _mav_put_float(buf, 24, pitchspeed);
jdawkins 0:bb2cacd02294 262 _mav_put_float(buf, 28, yawspeed);
jdawkins 0:bb2cacd02294 263
jdawkins 0:bb2cacd02294 264 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
jdawkins 0:bb2cacd02294 265 #else
jdawkins 0:bb2cacd02294 266 mavlink_attitude_quaternion_t *packet = (mavlink_attitude_quaternion_t *)msgbuf;
jdawkins 0:bb2cacd02294 267 packet->time_boot_ms = time_boot_ms;
jdawkins 0:bb2cacd02294 268 packet->q1 = q1;
jdawkins 0:bb2cacd02294 269 packet->q2 = q2;
jdawkins 0:bb2cacd02294 270 packet->q3 = q3;
jdawkins 0:bb2cacd02294 271 packet->q4 = q4;
jdawkins 0:bb2cacd02294 272 packet->rollspeed = rollspeed;
jdawkins 0:bb2cacd02294 273 packet->pitchspeed = pitchspeed;
jdawkins 0:bb2cacd02294 274 packet->yawspeed = yawspeed;
jdawkins 0:bb2cacd02294 275
jdawkins 0:bb2cacd02294 276 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
jdawkins 0:bb2cacd02294 277 #endif
jdawkins 0:bb2cacd02294 278 }
jdawkins 0:bb2cacd02294 279 #endif
jdawkins 0:bb2cacd02294 280
jdawkins 0:bb2cacd02294 281 #endif
jdawkins 0:bb2cacd02294 282
jdawkins 0:bb2cacd02294 283 // MESSAGE ATTITUDE_QUATERNION UNPACKING
jdawkins 0:bb2cacd02294 284
jdawkins 0:bb2cacd02294 285
jdawkins 0:bb2cacd02294 286 /**
jdawkins 0:bb2cacd02294 287 * @brief Get field time_boot_ms from attitude_quaternion message
jdawkins 0:bb2cacd02294 288 *
jdawkins 0:bb2cacd02294 289 * @return Timestamp (milliseconds since system boot)
jdawkins 0:bb2cacd02294 290 */
jdawkins 0:bb2cacd02294 291 static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 292 {
jdawkins 0:bb2cacd02294 293 return _MAV_RETURN_uint32_t(msg, 0);
jdawkins 0:bb2cacd02294 294 }
jdawkins 0:bb2cacd02294 295
jdawkins 0:bb2cacd02294 296 /**
jdawkins 0:bb2cacd02294 297 * @brief Get field q1 from attitude_quaternion message
jdawkins 0:bb2cacd02294 298 *
jdawkins 0:bb2cacd02294 299 * @return Quaternion component 1, w (1 in null-rotation)
jdawkins 0:bb2cacd02294 300 */
jdawkins 0:bb2cacd02294 301 static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 302 {
jdawkins 0:bb2cacd02294 303 return _MAV_RETURN_float(msg, 4);
jdawkins 0:bb2cacd02294 304 }
jdawkins 0:bb2cacd02294 305
jdawkins 0:bb2cacd02294 306 /**
jdawkins 0:bb2cacd02294 307 * @brief Get field q2 from attitude_quaternion message
jdawkins 0:bb2cacd02294 308 *
jdawkins 0:bb2cacd02294 309 * @return Quaternion component 2, x (0 in null-rotation)
jdawkins 0:bb2cacd02294 310 */
jdawkins 0:bb2cacd02294 311 static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 312 {
jdawkins 0:bb2cacd02294 313 return _MAV_RETURN_float(msg, 8);
jdawkins 0:bb2cacd02294 314 }
jdawkins 0:bb2cacd02294 315
jdawkins 0:bb2cacd02294 316 /**
jdawkins 0:bb2cacd02294 317 * @brief Get field q3 from attitude_quaternion message
jdawkins 0:bb2cacd02294 318 *
jdawkins 0:bb2cacd02294 319 * @return Quaternion component 3, y (0 in null-rotation)
jdawkins 0:bb2cacd02294 320 */
jdawkins 0:bb2cacd02294 321 static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 322 {
jdawkins 0:bb2cacd02294 323 return _MAV_RETURN_float(msg, 12);
jdawkins 0:bb2cacd02294 324 }
jdawkins 0:bb2cacd02294 325
jdawkins 0:bb2cacd02294 326 /**
jdawkins 0:bb2cacd02294 327 * @brief Get field q4 from attitude_quaternion message
jdawkins 0:bb2cacd02294 328 *
jdawkins 0:bb2cacd02294 329 * @return Quaternion component 4, z (0 in null-rotation)
jdawkins 0:bb2cacd02294 330 */
jdawkins 0:bb2cacd02294 331 static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 332 {
jdawkins 0:bb2cacd02294 333 return _MAV_RETURN_float(msg, 16);
jdawkins 0:bb2cacd02294 334 }
jdawkins 0:bb2cacd02294 335
jdawkins 0:bb2cacd02294 336 /**
jdawkins 0:bb2cacd02294 337 * @brief Get field rollspeed from attitude_quaternion message
jdawkins 0:bb2cacd02294 338 *
jdawkins 0:bb2cacd02294 339 * @return Roll angular speed (rad/s)
jdawkins 0:bb2cacd02294 340 */
jdawkins 0:bb2cacd02294 341 static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 342 {
jdawkins 0:bb2cacd02294 343 return _MAV_RETURN_float(msg, 20);
jdawkins 0:bb2cacd02294 344 }
jdawkins 0:bb2cacd02294 345
jdawkins 0:bb2cacd02294 346 /**
jdawkins 0:bb2cacd02294 347 * @brief Get field pitchspeed from attitude_quaternion message
jdawkins 0:bb2cacd02294 348 *
jdawkins 0:bb2cacd02294 349 * @return Pitch angular speed (rad/s)
jdawkins 0:bb2cacd02294 350 */
jdawkins 0:bb2cacd02294 351 static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 352 {
jdawkins 0:bb2cacd02294 353 return _MAV_RETURN_float(msg, 24);
jdawkins 0:bb2cacd02294 354 }
jdawkins 0:bb2cacd02294 355
jdawkins 0:bb2cacd02294 356 /**
jdawkins 0:bb2cacd02294 357 * @brief Get field yawspeed from attitude_quaternion message
jdawkins 0:bb2cacd02294 358 *
jdawkins 0:bb2cacd02294 359 * @return Yaw angular speed (rad/s)
jdawkins 0:bb2cacd02294 360 */
jdawkins 0:bb2cacd02294 361 static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg)
jdawkins 0:bb2cacd02294 362 {
jdawkins 0:bb2cacd02294 363 return _MAV_RETURN_float(msg, 28);
jdawkins 0:bb2cacd02294 364 }
jdawkins 0:bb2cacd02294 365
jdawkins 0:bb2cacd02294 366 /**
jdawkins 0:bb2cacd02294 367 * @brief Decode a attitude_quaternion message into a struct
jdawkins 0:bb2cacd02294 368 *
jdawkins 0:bb2cacd02294 369 * @param msg The message to decode
jdawkins 0:bb2cacd02294 370 * @param attitude_quaternion C-struct to decode the message contents into
jdawkins 0:bb2cacd02294 371 */
jdawkins 0:bb2cacd02294 372 static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion)
jdawkins 0:bb2cacd02294 373 {
jdawkins 0:bb2cacd02294 374 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
jdawkins 0:bb2cacd02294 375 attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
jdawkins 0:bb2cacd02294 376 attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
jdawkins 0:bb2cacd02294 377 attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
jdawkins 0:bb2cacd02294 378 attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
jdawkins 0:bb2cacd02294 379 attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
jdawkins 0:bb2cacd02294 380 attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
jdawkins 0:bb2cacd02294 381 attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
jdawkins 0:bb2cacd02294 382 attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
jdawkins 0:bb2cacd02294 383 #else
jdawkins 0:bb2cacd02294 384 uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN;
jdawkins 0:bb2cacd02294 385 memset(attitude_quaternion, 0, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
jdawkins 0:bb2cacd02294 386 memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), len);
jdawkins 0:bb2cacd02294 387 #endif
jdawkins 0:bb2cacd02294 388 }
jdawkins 0:bb2cacd02294 389