Diff: emaxx_board/mavlink_msg_attitude.h

Revision:

0:bb2cacd02294

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/emaxx_board/mavlink_msg_attitude.h	Fri Jan 20 13:20:58 2017 +0000
@@ -0,0 +1,364 @@
+#pragma once
+// MESSAGE ATTITUDE PACKING
+
+#define MAVLINK_MSG_ID_ATTITUDE 30
+
+MAVPACKED(
+typedef struct __mavlink_attitude_t {
+ uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
+ float roll; /*< Roll angle (rad, -pi..+pi)*/
+ float pitch; /*< Pitch angle (rad, -pi..+pi)*/
+ float yaw; /*< Yaw angle (rad, -pi..+pi)*/
+ float rollspeed; /*< Roll angular speed (rad/s)*/
+ float pitchspeed; /*< Pitch angular speed (rad/s)*/
+ float yawspeed; /*< Yaw angular speed (rad/s)*/
+}) mavlink_attitude_t;
+
+#define MAVLINK_MSG_ID_ATTITUDE_LEN 28
+#define MAVLINK_MSG_ID_ATTITUDE_MIN_LEN 28
+#define MAVLINK_MSG_ID_30_LEN 28
+#define MAVLINK_MSG_ID_30_MIN_LEN 28
+
+#define MAVLINK_MSG_ID_ATTITUDE_CRC 39
+#define MAVLINK_MSG_ID_30_CRC 39
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
+    30, \
+    "ATTITUDE", \
+    7, \
+    {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
+         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
+         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
+         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
+         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
+         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
+    "ATTITUDE", \
+    7, \
+    {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
+         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
+         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
+         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
+         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
+         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
+         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a attitude message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param roll Roll angle (rad, -pi..+pi)
+ * @param pitch Pitch angle (rad, -pi..+pi)
+ * @param yaw Yaw angle (rad, -pi..+pi)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, rollspeed);
+    _mav_put_float(buf, 20, pitchspeed);
+    _mav_put_float(buf, 24, yawspeed);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
+#else
+    mavlink_attitude_t packet;
+    packet.time_boot_ms = time_boot_ms;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.rollspeed = rollspeed;
+    packet.pitchspeed = pitchspeed;
+    packet.yawspeed = yawspeed;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
+    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);
+}
+
+/**
+ * @brief Pack a attitude message on a channel
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param roll Roll angle (rad, -pi..+pi)
+ * @param pitch Pitch angle (rad, -pi..+pi)
+ * @param yaw Yaw angle (rad, -pi..+pi)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, rollspeed);
+    _mav_put_float(buf, 20, pitchspeed);
+    _mav_put_float(buf, 24, yawspeed);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
+#else
+    mavlink_attitude_t packet;
+    packet.time_boot_ms = time_boot_ms;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.rollspeed = rollspeed;
+    packet.pitchspeed = pitchspeed;
+    packet.yawspeed = yawspeed;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
+    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);
+}
+
+/**
+ * @brief Encode a attitude struct
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param attitude C-struct to read the message contents from
+ */
+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)
+{
+    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);
+}
+
+/**
+ * @brief Encode a attitude struct on a channel
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message will be sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param attitude C-struct to read the message contents from
+ */
+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)
+{
+    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);
+}
+
+/**
+ * @brief Send a attitude message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param roll Roll angle (rad, -pi..+pi)
+ * @param pitch Pitch angle (rad, -pi..+pi)
+ * @param yaw Yaw angle (rad, -pi..+pi)
+ * @param rollspeed Roll angular speed (rad/s)
+ * @param pitchspeed Pitch angular speed (rad/s)
+ * @param yawspeed Yaw angular speed (rad/s)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+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)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, rollspeed);
+    _mav_put_float(buf, 20, pitchspeed);
+    _mav_put_float(buf, 24, yawspeed);
+
+    _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);
+#else
+    mavlink_attitude_t packet;
+    packet.time_boot_ms = time_boot_ms;
+    packet.roll = roll;
+    packet.pitch = pitch;
+    packet.yaw = yaw;
+    packet.rollspeed = rollspeed;
+    packet.pitchspeed = pitchspeed;
+    packet.yawspeed = yawspeed;
+
+    _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);
+#endif
+}
+
+/**
+ * @brief Send a attitude message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_attitude_send_struct(mavlink_channel_t chan, const mavlink_attitude_t* attitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_attitude_send(chan, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
+#else
+    _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);
+#endif
+}
+
+#if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
+/*
+  This varient of _send() can be used to save stack space by re-using
+  memory from the receive buffer.  The caller provides a
+  mavlink_message_t which is the size of a full mavlink message. This
+  is usually the receive buffer for the channel, and allows a reply to an
+  incoming message with minimum stack space usage.
+ */
+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)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_float(buf, 4, roll);
+    _mav_put_float(buf, 8, pitch);
+    _mav_put_float(buf, 12, yaw);
+    _mav_put_float(buf, 16, rollspeed);
+    _mav_put_float(buf, 20, pitchspeed);
+    _mav_put_float(buf, 24, yawspeed);
+
+    _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);
+#else
+    mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
+    packet->time_boot_ms = time_boot_ms;
+    packet->roll = roll;
+    packet->pitch = pitch;
+    packet->yaw = yaw;
+    packet->rollspeed = rollspeed;
+    packet->pitchspeed = pitchspeed;
+    packet->yawspeed = yawspeed;
+
+    _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);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE ATTITUDE UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from attitude message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field roll from attitude message
+ *
+ * @return Roll angle (rad, -pi..+pi)
+ */
+static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field pitch from attitude message
+ *
+ * @return Pitch angle (rad, -pi..+pi)
+ */
+static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field yaw from attitude message
+ *
+ * @return Yaw angle (rad, -pi..+pi)
+ */
+static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field rollspeed from attitude message
+ *
+ * @return Roll angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field pitchspeed from attitude message
+ *
+ * @return Pitch angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field yawspeed from attitude message
+ *
+ * @return Yaw angular speed (rad/s)
+ */
+static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Decode a attitude message into a struct
+ *
+ * @param msg The message to decode
+ * @param attitude C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
+    attitude->roll = mavlink_msg_attitude_get_roll(msg);
+    attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
+    attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
+    attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
+    attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
+    attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_LEN;
+        memset(attitude, 0, MAVLINK_MSG_ID_ATTITUDE_LEN);
+    memcpy(attitude, _MAV_PAYLOAD(msg), len);
+#endif
+}
+