Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

MAVlink/include/common/mavlink_msg_scaled_imu.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 // MESSAGE SCALED_IMU PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_SCALED_IMU 26
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_scaled_imu_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 8 int16_t xacc; ///< X acceleration (mg)
shimniok 0:826c6171fc1b 9 int16_t yacc; ///< Y acceleration (mg)
shimniok 0:826c6171fc1b 10 int16_t zacc; ///< Z acceleration (mg)
shimniok 0:826c6171fc1b 11 int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
shimniok 0:826c6171fc1b 12 int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
shimniok 0:826c6171fc1b 13 int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
shimniok 0:826c6171fc1b 14 int16_t xmag; ///< X Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 15 int16_t ymag; ///< Y Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 16 int16_t zmag; ///< Z Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 17
shimniok 0:826c6171fc1b 18 } mavlink_scaled_imu_t;
shimniok 0:826c6171fc1b 19
shimniok 0:826c6171fc1b 20
shimniok 0:826c6171fc1b 21
shimniok 0:826c6171fc1b 22 /**
shimniok 0:826c6171fc1b 23 * @brief Pack a scaled_imu message
shimniok 0:826c6171fc1b 24 * @param system_id ID of this system
shimniok 0:826c6171fc1b 25 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 26 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 27 *
shimniok 0:826c6171fc1b 28 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 29 * @param xacc X acceleration (mg)
shimniok 0:826c6171fc1b 30 * @param yacc Y acceleration (mg)
shimniok 0:826c6171fc1b 31 * @param zacc Z acceleration (mg)
shimniok 0:826c6171fc1b 32 * @param xgyro Angular speed around X axis (millirad /sec)
shimniok 0:826c6171fc1b 33 * @param ygyro Angular speed around Y axis (millirad /sec)
shimniok 0:826c6171fc1b 34 * @param zgyro Angular speed around Z axis (millirad /sec)
shimniok 0:826c6171fc1b 35 * @param xmag X Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 36 * @param ymag Y Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 37 * @param zmag Z Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 38 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 39 */
shimniok 0:826c6171fc1b 40 static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, 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)
shimniok 0:826c6171fc1b 41 {
shimniok 0:826c6171fc1b 42 uint16_t i = 0;
shimniok 0:826c6171fc1b 43 msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
shimniok 0:826c6171fc1b 44
shimniok 0:826c6171fc1b 45 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 46 i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
shimniok 0:826c6171fc1b 47 i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
shimniok 0:826c6171fc1b 48 i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
shimniok 0:826c6171fc1b 49 i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (millirad /sec)
shimniok 0:826c6171fc1b 50 i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (millirad /sec)
shimniok 0:826c6171fc1b 51 i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (millirad /sec)
shimniok 0:826c6171fc1b 52 i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 53 i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 54 i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 55
shimniok 0:826c6171fc1b 56 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 57 }
shimniok 0:826c6171fc1b 58
shimniok 0:826c6171fc1b 59 /**
shimniok 0:826c6171fc1b 60 * @brief Pack a scaled_imu message
shimniok 0:826c6171fc1b 61 * @param system_id ID of this system
shimniok 0:826c6171fc1b 62 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 63 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 64 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 65 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 66 * @param xacc X acceleration (mg)
shimniok 0:826c6171fc1b 67 * @param yacc Y acceleration (mg)
shimniok 0:826c6171fc1b 68 * @param zacc Z acceleration (mg)
shimniok 0:826c6171fc1b 69 * @param xgyro Angular speed around X axis (millirad /sec)
shimniok 0:826c6171fc1b 70 * @param ygyro Angular speed around Y axis (millirad /sec)
shimniok 0:826c6171fc1b 71 * @param zgyro Angular speed around Z axis (millirad /sec)
shimniok 0:826c6171fc1b 72 * @param xmag X Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 73 * @param ymag Y Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 74 * @param zmag Z Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 75 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 76 */
shimniok 0:826c6171fc1b 77 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, uint64_t usec, 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)
shimniok 0:826c6171fc1b 78 {
shimniok 0:826c6171fc1b 79 uint16_t i = 0;
shimniok 0:826c6171fc1b 80 msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
shimniok 0:826c6171fc1b 81
shimniok 0:826c6171fc1b 82 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 83 i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
shimniok 0:826c6171fc1b 84 i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
shimniok 0:826c6171fc1b 85 i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
shimniok 0:826c6171fc1b 86 i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (millirad /sec)
shimniok 0:826c6171fc1b 87 i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (millirad /sec)
shimniok 0:826c6171fc1b 88 i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (millirad /sec)
shimniok 0:826c6171fc1b 89 i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 90 i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 91 i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 92
shimniok 0:826c6171fc1b 93 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 94 }
shimniok 0:826c6171fc1b 95
shimniok 0:826c6171fc1b 96 /**
shimniok 0:826c6171fc1b 97 * @brief Encode a scaled_imu struct into a message
shimniok 0:826c6171fc1b 98 *
shimniok 0:826c6171fc1b 99 * @param system_id ID of this system
shimniok 0:826c6171fc1b 100 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 101 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 102 * @param scaled_imu C-struct to read the message contents from
shimniok 0:826c6171fc1b 103 */
shimniok 0:826c6171fc1b 104 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)
shimniok 0:826c6171fc1b 105 {
shimniok 0:826c6171fc1b 106 return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->usec, 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);
shimniok 0:826c6171fc1b 107 }
shimniok 0:826c6171fc1b 108
shimniok 0:826c6171fc1b 109 /**
shimniok 0:826c6171fc1b 110 * @brief Send a scaled_imu message
shimniok 0:826c6171fc1b 111 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 112 *
shimniok 0:826c6171fc1b 113 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 114 * @param xacc X acceleration (mg)
shimniok 0:826c6171fc1b 115 * @param yacc Y acceleration (mg)
shimniok 0:826c6171fc1b 116 * @param zacc Z acceleration (mg)
shimniok 0:826c6171fc1b 117 * @param xgyro Angular speed around X axis (millirad /sec)
shimniok 0:826c6171fc1b 118 * @param ygyro Angular speed around Y axis (millirad /sec)
shimniok 0:826c6171fc1b 119 * @param zgyro Angular speed around Z axis (millirad /sec)
shimniok 0:826c6171fc1b 120 * @param xmag X Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 121 * @param ymag Y Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 122 * @param zmag Z Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 123 */
shimniok 0:826c6171fc1b 124 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 125
shimniok 0:826c6171fc1b 126 static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint64_t usec, 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)
shimniok 0:826c6171fc1b 127 {
shimniok 0:826c6171fc1b 128 mavlink_message_t msg;
shimniok 0:826c6171fc1b 129 mavlink_msg_scaled_imu_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag);
shimniok 0:826c6171fc1b 130 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 131 }
shimniok 0:826c6171fc1b 132
shimniok 0:826c6171fc1b 133 #endif
shimniok 0:826c6171fc1b 134 // MESSAGE SCALED_IMU UNPACKING
shimniok 0:826c6171fc1b 135
shimniok 0:826c6171fc1b 136 /**
shimniok 0:826c6171fc1b 137 * @brief Get field usec from scaled_imu message
shimniok 0:826c6171fc1b 138 *
shimniok 0:826c6171fc1b 139 * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 140 */
shimniok 0:826c6171fc1b 141 static inline uint64_t mavlink_msg_scaled_imu_get_usec(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 142 {
shimniok 0:826c6171fc1b 143 generic_64bit r;
shimniok 0:826c6171fc1b 144 r.b[7] = (msg->payload)[0];
shimniok 0:826c6171fc1b 145 r.b[6] = (msg->payload)[1];
shimniok 0:826c6171fc1b 146 r.b[5] = (msg->payload)[2];
shimniok 0:826c6171fc1b 147 r.b[4] = (msg->payload)[3];
shimniok 0:826c6171fc1b 148 r.b[3] = (msg->payload)[4];
shimniok 0:826c6171fc1b 149 r.b[2] = (msg->payload)[5];
shimniok 0:826c6171fc1b 150 r.b[1] = (msg->payload)[6];
shimniok 0:826c6171fc1b 151 r.b[0] = (msg->payload)[7];
shimniok 0:826c6171fc1b 152 return (uint64_t)r.ll;
shimniok 0:826c6171fc1b 153 }
shimniok 0:826c6171fc1b 154
shimniok 0:826c6171fc1b 155 /**
shimniok 0:826c6171fc1b 156 * @brief Get field xacc from scaled_imu message
shimniok 0:826c6171fc1b 157 *
shimniok 0:826c6171fc1b 158 * @return X acceleration (mg)
shimniok 0:826c6171fc1b 159 */
shimniok 0:826c6171fc1b 160 static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 161 {
shimniok 0:826c6171fc1b 162 generic_16bit r;
shimniok 0:826c6171fc1b 163 r.b[1] = (msg->payload+sizeof(uint64_t))[0];
shimniok 0:826c6171fc1b 164 r.b[0] = (msg->payload+sizeof(uint64_t))[1];
shimniok 0:826c6171fc1b 165 return (int16_t)r.s;
shimniok 0:826c6171fc1b 166 }
shimniok 0:826c6171fc1b 167
shimniok 0:826c6171fc1b 168 /**
shimniok 0:826c6171fc1b 169 * @brief Get field yacc from scaled_imu message
shimniok 0:826c6171fc1b 170 *
shimniok 0:826c6171fc1b 171 * @return Y acceleration (mg)
shimniok 0:826c6171fc1b 172 */
shimniok 0:826c6171fc1b 173 static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 174 {
shimniok 0:826c6171fc1b 175 generic_16bit r;
shimniok 0:826c6171fc1b 176 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 177 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 178 return (int16_t)r.s;
shimniok 0:826c6171fc1b 179 }
shimniok 0:826c6171fc1b 180
shimniok 0:826c6171fc1b 181 /**
shimniok 0:826c6171fc1b 182 * @brief Get field zacc from scaled_imu message
shimniok 0:826c6171fc1b 183 *
shimniok 0:826c6171fc1b 184 * @return Z acceleration (mg)
shimniok 0:826c6171fc1b 185 */
shimniok 0:826c6171fc1b 186 static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 187 {
shimniok 0:826c6171fc1b 188 generic_16bit r;
shimniok 0:826c6171fc1b 189 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 190 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 191 return (int16_t)r.s;
shimniok 0:826c6171fc1b 192 }
shimniok 0:826c6171fc1b 193
shimniok 0:826c6171fc1b 194 /**
shimniok 0:826c6171fc1b 195 * @brief Get field xgyro from scaled_imu message
shimniok 0:826c6171fc1b 196 *
shimniok 0:826c6171fc1b 197 * @return Angular speed around X axis (millirad /sec)
shimniok 0:826c6171fc1b 198 */
shimniok 0:826c6171fc1b 199 static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 200 {
shimniok 0:826c6171fc1b 201 generic_16bit r;
shimniok 0:826c6171fc1b 202 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 203 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 204 return (int16_t)r.s;
shimniok 0:826c6171fc1b 205 }
shimniok 0:826c6171fc1b 206
shimniok 0:826c6171fc1b 207 /**
shimniok 0:826c6171fc1b 208 * @brief Get field ygyro from scaled_imu message
shimniok 0:826c6171fc1b 209 *
shimniok 0:826c6171fc1b 210 * @return Angular speed around Y axis (millirad /sec)
shimniok 0:826c6171fc1b 211 */
shimniok 0:826c6171fc1b 212 static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 213 {
shimniok 0:826c6171fc1b 214 generic_16bit r;
shimniok 0:826c6171fc1b 215 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 216 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 217 return (int16_t)r.s;
shimniok 0:826c6171fc1b 218 }
shimniok 0:826c6171fc1b 219
shimniok 0:826c6171fc1b 220 /**
shimniok 0:826c6171fc1b 221 * @brief Get field zgyro from scaled_imu message
shimniok 0:826c6171fc1b 222 *
shimniok 0:826c6171fc1b 223 * @return Angular speed around Z axis (millirad /sec)
shimniok 0:826c6171fc1b 224 */
shimniok 0:826c6171fc1b 225 static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 226 {
shimniok 0:826c6171fc1b 227 generic_16bit r;
shimniok 0:826c6171fc1b 228 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 229 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 230 return (int16_t)r.s;
shimniok 0:826c6171fc1b 231 }
shimniok 0:826c6171fc1b 232
shimniok 0:826c6171fc1b 233 /**
shimniok 0:826c6171fc1b 234 * @brief Get field xmag from scaled_imu message
shimniok 0:826c6171fc1b 235 *
shimniok 0:826c6171fc1b 236 * @return X Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 237 */
shimniok 0:826c6171fc1b 238 static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 239 {
shimniok 0:826c6171fc1b 240 generic_16bit r;
shimniok 0:826c6171fc1b 241 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 242 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 243 return (int16_t)r.s;
shimniok 0:826c6171fc1b 244 }
shimniok 0:826c6171fc1b 245
shimniok 0:826c6171fc1b 246 /**
shimniok 0:826c6171fc1b 247 * @brief Get field ymag from scaled_imu message
shimniok 0:826c6171fc1b 248 *
shimniok 0:826c6171fc1b 249 * @return Y Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 250 */
shimniok 0:826c6171fc1b 251 static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 252 {
shimniok 0:826c6171fc1b 253 generic_16bit r;
shimniok 0:826c6171fc1b 254 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 255 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 256 return (int16_t)r.s;
shimniok 0:826c6171fc1b 257 }
shimniok 0:826c6171fc1b 258
shimniok 0:826c6171fc1b 259 /**
shimniok 0:826c6171fc1b 260 * @brief Get field zmag from scaled_imu message
shimniok 0:826c6171fc1b 261 *
shimniok 0:826c6171fc1b 262 * @return Z Magnetic field (milli tesla)
shimniok 0:826c6171fc1b 263 */
shimniok 0:826c6171fc1b 264 static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 265 {
shimniok 0:826c6171fc1b 266 generic_16bit r;
shimniok 0:826c6171fc1b 267 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 268 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 269 return (int16_t)r.s;
shimniok 0:826c6171fc1b 270 }
shimniok 0:826c6171fc1b 271
shimniok 0:826c6171fc1b 272 /**
shimniok 0:826c6171fc1b 273 * @brief Decode a scaled_imu message into a struct
shimniok 0:826c6171fc1b 274 *
shimniok 0:826c6171fc1b 275 * @param msg The message to decode
shimniok 0:826c6171fc1b 276 * @param scaled_imu C-struct to decode the message contents into
shimniok 0:826c6171fc1b 277 */
shimniok 0:826c6171fc1b 278 static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu)
shimniok 0:826c6171fc1b 279 {
shimniok 0:826c6171fc1b 280 scaled_imu->usec = mavlink_msg_scaled_imu_get_usec(msg);
shimniok 0:826c6171fc1b 281 scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg);
shimniok 0:826c6171fc1b 282 scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg);
shimniok 0:826c6171fc1b 283 scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg);
shimniok 0:826c6171fc1b 284 scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg);
shimniok 0:826c6171fc1b 285 scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg);
shimniok 0:826c6171fc1b 286 scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg);
shimniok 0:826c6171fc1b 287 scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg);
shimniok 0:826c6171fc1b 288 scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg);
shimniok 0:826c6171fc1b 289 scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg);
shimniok 0:826c6171fc1b 290 }