Diff: MAVlink/include/common/mavlink_msg_state_correction.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/common/mavlink_msg_state_correction.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,282 @@
+// MESSAGE STATE_CORRECTION PACKING
+
+#define MAVLINK_MSG_ID_STATE_CORRECTION 64
+
+typedef struct __mavlink_state_correction_t 
+{
+	float xErr; ///< x position error
+	float yErr; ///< y position error
+	float zErr; ///< z position error
+	float rollErr; ///< roll error (radians)
+	float pitchErr; ///< pitch error (radians)
+	float yawErr; ///< yaw error (radians)
+	float vxErr; ///< x velocity
+	float vyErr; ///< y velocity
+	float vzErr; ///< z velocity
+
+} mavlink_state_correction_t;
+
+
+
+/**
+ * @brief Pack a state_correction 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 xErr x position error
+ * @param yErr y position error
+ * @param zErr z position error
+ * @param rollErr roll error (radians)
+ * @param pitchErr pitch error (radians)
+ * @param yawErr yaw error (radians)
+ * @param vxErr x velocity
+ * @param vyErr y velocity
+ * @param vzErr z velocity
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_state_correction_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
+
+	i += put_float_by_index(xErr, i, msg->payload); // x position error
+	i += put_float_by_index(yErr, i, msg->payload); // y position error
+	i += put_float_by_index(zErr, i, msg->payload); // z position error
+	i += put_float_by_index(rollErr, i, msg->payload); // roll error (radians)
+	i += put_float_by_index(pitchErr, i, msg->payload); // pitch error (radians)
+	i += put_float_by_index(yawErr, i, msg->payload); // yaw error (radians)
+	i += put_float_by_index(vxErr, i, msg->payload); // x velocity
+	i += put_float_by_index(vyErr, i, msg->payload); // y velocity
+	i += put_float_by_index(vzErr, i, msg->payload); // z velocity
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a state_correction message
+ * @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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param xErr x position error
+ * @param yErr y position error
+ * @param zErr z position error
+ * @param rollErr roll error (radians)
+ * @param pitchErr pitch error (radians)
+ * @param yawErr yaw error (radians)
+ * @param vxErr x velocity
+ * @param vyErr y velocity
+ * @param vzErr z velocity
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_state_correction_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
+
+	i += put_float_by_index(xErr, i, msg->payload); // x position error
+	i += put_float_by_index(yErr, i, msg->payload); // y position error
+	i += put_float_by_index(zErr, i, msg->payload); // z position error
+	i += put_float_by_index(rollErr, i, msg->payload); // roll error (radians)
+	i += put_float_by_index(pitchErr, i, msg->payload); // pitch error (radians)
+	i += put_float_by_index(yawErr, i, msg->payload); // yaw error (radians)
+	i += put_float_by_index(vxErr, i, msg->payload); // x velocity
+	i += put_float_by_index(vyErr, i, msg->payload); // y velocity
+	i += put_float_by_index(vzErr, i, msg->payload); // z velocity
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a state_correction struct into a 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 state_correction C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_state_correction_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_state_correction_t* state_correction)
+{
+	return mavlink_msg_state_correction_pack(system_id, component_id, msg, state_correction->xErr, state_correction->yErr, state_correction->zErr, state_correction->rollErr, state_correction->pitchErr, state_correction->yawErr, state_correction->vxErr, state_correction->vyErr, state_correction->vzErr);
+}
+
+/**
+ * @brief Send a state_correction message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param xErr x position error
+ * @param yErr y position error
+ * @param zErr z position error
+ * @param rollErr roll error (radians)
+ * @param pitchErr pitch error (radians)
+ * @param yawErr yaw error (radians)
+ * @param vxErr x velocity
+ * @param vyErr y velocity
+ * @param vzErr z velocity
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_state_correction_send(mavlink_channel_t chan, float xErr, float yErr, float zErr, float rollErr, float pitchErr, float yawErr, float vxErr, float vyErr, float vzErr)
+{
+	mavlink_message_t msg;
+	mavlink_msg_state_correction_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE STATE_CORRECTION UNPACKING
+
+/**
+ * @brief Get field xErr from state_correction message
+ *
+ * @return x position error
+ */
+static inline float mavlink_msg_state_correction_get_xErr(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload)[0];
+	r.b[2] = (msg->payload)[1];
+	r.b[1] = (msg->payload)[2];
+	r.b[0] = (msg->payload)[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field yErr from state_correction message
+ *
+ * @return y position error
+ */
+static inline float mavlink_msg_state_correction_get_yErr(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field zErr from state_correction message
+ *
+ * @return z position error
+ */
+static inline float mavlink_msg_state_correction_get_zErr(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field rollErr from state_correction message
+ *
+ * @return roll error (radians)
+ */
+static inline float mavlink_msg_state_correction_get_rollErr(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field pitchErr from state_correction message
+ *
+ * @return pitch error (radians)
+ */
+static inline float mavlink_msg_state_correction_get_pitchErr(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field yawErr from state_correction message
+ *
+ * @return yaw error (radians)
+ */
+static inline float mavlink_msg_state_correction_get_yawErr(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field vxErr from state_correction message
+ *
+ * @return x velocity
+ */
+static inline float mavlink_msg_state_correction_get_vxErr(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field vyErr from state_correction message
+ *
+ * @return y velocity
+ */
+static inline float mavlink_msg_state_correction_get_vyErr(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field vzErr from state_correction message
+ *
+ * @return z velocity
+ */
+static inline float mavlink_msg_state_correction_get_vzErr(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Decode a state_correction message into a struct
+ *
+ * @param msg The message to decode
+ * @param state_correction C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_state_correction_decode(const mavlink_message_t* msg, mavlink_state_correction_t* state_correction)
+{
+	state_correction->xErr = mavlink_msg_state_correction_get_xErr(msg);
+	state_correction->yErr = mavlink_msg_state_correction_get_yErr(msg);
+	state_correction->zErr = mavlink_msg_state_correction_get_zErr(msg);
+	state_correction->rollErr = mavlink_msg_state_correction_get_rollErr(msg);
+	state_correction->pitchErr = mavlink_msg_state_correction_get_pitchErr(msg);
+	state_correction->yawErr = mavlink_msg_state_correction_get_yawErr(msg);
+	state_correction->vxErr = mavlink_msg_state_correction_get_vxErr(msg);
+	state_correction->vyErr = mavlink_msg_state_correction_get_vyErr(msg);
+	state_correction->vzErr = mavlink_msg_state_correction_get_vzErr(msg);
+}