Diff: emaxx_board/mavlink_msg_scaled_imu.h

Revision:

0:bb2cacd02294

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/emaxx_board/mavlink_msg_scaled_imu.h	Fri Jan 20 13:20:58 2017 +0000
@@ -0,0 +1,439 @@
+#pragma once
+// MESSAGE SCALED_IMU PACKING
+
+#define MAVLINK_MSG_ID_SCALED_IMU 26
+
+MAVPACKED(
+typedef struct __mavlink_scaled_imu_t {
+ uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
+ int16_t xacc; /*< X acceleration (mg)*/
+ int16_t yacc; /*< Y acceleration (mg)*/
+ int16_t zacc; /*< Z acceleration (mg)*/
+ int16_t xgyro; /*< Angular speed around X axis (millirad /sec)*/
+ int16_t ygyro; /*< Angular speed around Y axis (millirad /sec)*/
+ int16_t zgyro; /*< Angular speed around Z axis (millirad /sec)*/
+ int16_t xmag; /*< X Magnetic field (milli tesla)*/
+ int16_t ymag; /*< Y Magnetic field (milli tesla)*/
+ int16_t zmag; /*< Z Magnetic field (milli tesla)*/
+}) mavlink_scaled_imu_t;
+
+#define MAVLINK_MSG_ID_SCALED_IMU_LEN 22
+#define MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN 22
+#define MAVLINK_MSG_ID_26_LEN 22
+#define MAVLINK_MSG_ID_26_MIN_LEN 22
+
+#define MAVLINK_MSG_ID_SCALED_IMU_CRC 170
+#define MAVLINK_MSG_ID_26_CRC 170
+
+
+
+#if MAVLINK_COMMAND_24BIT
+#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
+    26, \
+    "SCALED_IMU", \
+    10, \
+    {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
+         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
+         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
+         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
+         { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
+         { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
+         { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
+         { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
+         { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
+         { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
+         } \
+}
+#else
+#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
+    "SCALED_IMU", \
+    10, \
+    {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
+         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
+         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
+         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
+         { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
+         { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
+         { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
+         { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
+         { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
+         { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
+         } \
+}
+#endif
+
+/**
+ * @brief Pack a scaled_imu 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 xacc X acceleration (mg)
+ * @param yacc Y acceleration (mg)
+ * @param zacc Z acceleration (mg)
+ * @param xgyro Angular speed around X axis (millirad /sec)
+ * @param ygyro Angular speed around Y axis (millirad /sec)
+ * @param zgyro Angular speed around Z axis (millirad /sec)
+ * @param xmag X Magnetic field (milli tesla)
+ * @param ymag Y Magnetic field (milli tesla)
+ * @param zmag Z Magnetic field (milli tesla)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+                               uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_int16_t(buf, 4, xacc);
+    _mav_put_int16_t(buf, 6, yacc);
+    _mav_put_int16_t(buf, 8, zacc);
+    _mav_put_int16_t(buf, 10, xgyro);
+    _mav_put_int16_t(buf, 12, ygyro);
+    _mav_put_int16_t(buf, 14, zgyro);
+    _mav_put_int16_t(buf, 16, xmag);
+    _mav_put_int16_t(buf, 18, ymag);
+    _mav_put_int16_t(buf, 20, zmag);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
+#else
+    mavlink_scaled_imu_t packet;
+    packet.time_boot_ms = time_boot_ms;
+    packet.xacc = xacc;
+    packet.yacc = yacc;
+    packet.zacc = zacc;
+    packet.xgyro = xgyro;
+    packet.ygyro = ygyro;
+    packet.zgyro = zgyro;
+    packet.xmag = xmag;
+    packet.ymag = ymag;
+    packet.zmag = zmag;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
+    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
+}
+
+/**
+ * @brief Pack a scaled_imu 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 xacc X acceleration (mg)
+ * @param yacc Y acceleration (mg)
+ * @param zacc Z acceleration (mg)
+ * @param xgyro Angular speed around X axis (millirad /sec)
+ * @param ygyro Angular speed around Y axis (millirad /sec)
+ * @param zgyro Angular speed around Z axis (millirad /sec)
+ * @param xmag X Magnetic field (milli tesla)
+ * @param ymag Y Magnetic field (milli tesla)
+ * @param zmag Z Magnetic field (milli tesla)
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+                               mavlink_message_t* msg,
+                                   uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_int16_t(buf, 4, xacc);
+    _mav_put_int16_t(buf, 6, yacc);
+    _mav_put_int16_t(buf, 8, zacc);
+    _mav_put_int16_t(buf, 10, xgyro);
+    _mav_put_int16_t(buf, 12, ygyro);
+    _mav_put_int16_t(buf, 14, zgyro);
+    _mav_put_int16_t(buf, 16, xmag);
+    _mav_put_int16_t(buf, 18, ymag);
+    _mav_put_int16_t(buf, 20, zmag);
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
+#else
+    mavlink_scaled_imu_t packet;
+    packet.time_boot_ms = time_boot_ms;
+    packet.xacc = xacc;
+    packet.yacc = yacc;
+    packet.zacc = zacc;
+    packet.xgyro = xgyro;
+    packet.ygyro = ygyro;
+    packet.zgyro = zgyro;
+    packet.xmag = xmag;
+    packet.ymag = ymag;
+    packet.zmag = zmag;
+
+        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
+#endif
+
+    msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
+    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
+}
+
+/**
+ * @brief Encode a scaled_imu 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 scaled_imu C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
+{
+    return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
+}
+
+/**
+ * @brief Encode a scaled_imu 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 scaled_imu C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_scaled_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
+{
+    return mavlink_msg_scaled_imu_pack_chan(system_id, component_id, chan, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
+}
+
+/**
+ * @brief Send a scaled_imu message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param time_boot_ms Timestamp (milliseconds since system boot)
+ * @param xacc X acceleration (mg)
+ * @param yacc Y acceleration (mg)
+ * @param zacc Z acceleration (mg)
+ * @param xgyro Angular speed around X axis (millirad /sec)
+ * @param ygyro Angular speed around Y axis (millirad /sec)
+ * @param zgyro Angular speed around Z axis (millirad /sec)
+ * @param xmag X Magnetic field (milli tesla)
+ * @param ymag Y Magnetic field (milli tesla)
+ * @param zmag Z Magnetic field (milli tesla)
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_int16_t(buf, 4, xacc);
+    _mav_put_int16_t(buf, 6, yacc);
+    _mav_put_int16_t(buf, 8, zacc);
+    _mav_put_int16_t(buf, 10, xgyro);
+    _mav_put_int16_t(buf, 12, ygyro);
+    _mav_put_int16_t(buf, 14, zgyro);
+    _mav_put_int16_t(buf, 16, xmag);
+    _mav_put_int16_t(buf, 18, ymag);
+    _mav_put_int16_t(buf, 20, zmag);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
+#else
+    mavlink_scaled_imu_t packet;
+    packet.time_boot_ms = time_boot_ms;
+    packet.xacc = xacc;
+    packet.yacc = yacc;
+    packet.zacc = zacc;
+    packet.xgyro = xgyro;
+    packet.ygyro = ygyro;
+    packet.zgyro = zgyro;
+    packet.xmag = xmag;
+    packet.ymag = ymag;
+    packet.zmag = zmag;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
+#endif
+}
+
+/**
+ * @brief Send a scaled_imu message
+ * @param chan MAVLink channel to send the message
+ * @param struct The MAVLink struct to serialize
+ */
+static inline void mavlink_msg_scaled_imu_send_struct(mavlink_channel_t chan, const mavlink_scaled_imu_t* scaled_imu)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    mavlink_msg_scaled_imu_send(chan, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
+#else
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)scaled_imu, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
+#endif
+}
+
+#if MAVLINK_MSG_ID_SCALED_IMU_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_scaled_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    char *buf = (char *)msgbuf;
+    _mav_put_uint32_t(buf, 0, time_boot_ms);
+    _mav_put_int16_t(buf, 4, xacc);
+    _mav_put_int16_t(buf, 6, yacc);
+    _mav_put_int16_t(buf, 8, zacc);
+    _mav_put_int16_t(buf, 10, xgyro);
+    _mav_put_int16_t(buf, 12, ygyro);
+    _mav_put_int16_t(buf, 14, zgyro);
+    _mav_put_int16_t(buf, 16, xmag);
+    _mav_put_int16_t(buf, 18, ymag);
+    _mav_put_int16_t(buf, 20, zmag);
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
+#else
+    mavlink_scaled_imu_t *packet = (mavlink_scaled_imu_t *)msgbuf;
+    packet->time_boot_ms = time_boot_ms;
+    packet->xacc = xacc;
+    packet->yacc = yacc;
+    packet->zacc = zacc;
+    packet->xgyro = xgyro;
+    packet->ygyro = ygyro;
+    packet->zgyro = zgyro;
+    packet->xmag = xmag;
+    packet->ymag = ymag;
+    packet->zmag = zmag;
+
+    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
+#endif
+}
+#endif
+
+#endif
+
+// MESSAGE SCALED_IMU UNPACKING
+
+
+/**
+ * @brief Get field time_boot_ms from scaled_imu message
+ *
+ * @return Timestamp (milliseconds since system boot)
+ */
+static inline uint32_t mavlink_msg_scaled_imu_get_time_boot_ms(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_uint32_t(msg,  0);
+}
+
+/**
+ * @brief Get field xacc from scaled_imu message
+ *
+ * @return X acceleration (mg)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  4);
+}
+
+/**
+ * @brief Get field yacc from scaled_imu message
+ *
+ * @return Y acceleration (mg)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  6);
+}
+
+/**
+ * @brief Get field zacc from scaled_imu message
+ *
+ * @return Z acceleration (mg)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  8);
+}
+
+/**
+ * @brief Get field xgyro from scaled_imu message
+ *
+ * @return Angular speed around X axis (millirad /sec)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  10);
+}
+
+/**
+ * @brief Get field ygyro from scaled_imu message
+ *
+ * @return Angular speed around Y axis (millirad /sec)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  12);
+}
+
+/**
+ * @brief Get field zgyro from scaled_imu message
+ *
+ * @return Angular speed around Z axis (millirad /sec)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  14);
+}
+
+/**
+ * @brief Get field xmag from scaled_imu message
+ *
+ * @return X Magnetic field (milli tesla)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  16);
+}
+
+/**
+ * @brief Get field ymag from scaled_imu message
+ *
+ * @return Y Magnetic field (milli tesla)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  18);
+}
+
+/**
+ * @brief Get field zmag from scaled_imu message
+ *
+ * @return Z Magnetic field (milli tesla)
+ */
+static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg)
+{
+    return _MAV_RETURN_int16_t(msg,  20);
+}
+
+/**
+ * @brief Decode a scaled_imu message into a struct
+ *
+ * @param msg The message to decode
+ * @param scaled_imu C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+    scaled_imu->time_boot_ms = mavlink_msg_scaled_imu_get_time_boot_ms(msg);
+    scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg);
+    scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg);
+    scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg);
+    scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg);
+    scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg);
+    scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg);
+    scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg);
+    scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg);
+    scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg);
+#else
+        uint8_t len = msg->len < MAVLINK_MSG_ID_SCALED_IMU_LEN? msg->len : MAVLINK_MSG_ID_SCALED_IMU_LEN;
+        memset(scaled_imu, 0, MAVLINK_MSG_ID_SCALED_IMU_LEN);
+    memcpy(scaled_imu, _MAV_PAYLOAD(msg), len);
+#endif
+}
+