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_attitude.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?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:826c6171fc1b | 1 | // MESSAGE ATTITUDE PACKING |
shimniok | 0:826c6171fc1b | 2 | |
shimniok | 0:826c6171fc1b | 3 | #define MAVLINK_MSG_ID_ATTITUDE 30 |
shimniok | 0:826c6171fc1b | 4 | |
shimniok | 0:826c6171fc1b | 5 | typedef struct __mavlink_attitude_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 | float roll; ///< Roll angle (rad) |
shimniok | 0:826c6171fc1b | 9 | float pitch; ///< Pitch angle (rad) |
shimniok | 0:826c6171fc1b | 10 | float yaw; ///< Yaw angle (rad) |
shimniok | 0:826c6171fc1b | 11 | float rollspeed; ///< Roll angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 12 | float pitchspeed; ///< Pitch angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 13 | float yawspeed; ///< Yaw angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 14 | |
shimniok | 0:826c6171fc1b | 15 | } mavlink_attitude_t; |
shimniok | 0:826c6171fc1b | 16 | |
shimniok | 0:826c6171fc1b | 17 | |
shimniok | 0:826c6171fc1b | 18 | |
shimniok | 0:826c6171fc1b | 19 | /** |
shimniok | 0:826c6171fc1b | 20 | * @brief Pack a attitude message |
shimniok | 0:826c6171fc1b | 21 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 22 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 23 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 24 | * |
shimniok | 0:826c6171fc1b | 25 | * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:826c6171fc1b | 26 | * @param roll Roll angle (rad) |
shimniok | 0:826c6171fc1b | 27 | * @param pitch Pitch angle (rad) |
shimniok | 0:826c6171fc1b | 28 | * @param yaw Yaw angle (rad) |
shimniok | 0:826c6171fc1b | 29 | * @param rollspeed Roll angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 30 | * @param pitchspeed Pitch angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 31 | * @param yawspeed Yaw angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 32 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 33 | */ |
shimniok | 0:826c6171fc1b | 34 | static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) |
shimniok | 0:826c6171fc1b | 35 | { |
shimniok | 0:826c6171fc1b | 36 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 37 | msg->msgid = MAVLINK_MSG_ID_ATTITUDE; |
shimniok | 0:826c6171fc1b | 38 | |
shimniok | 0:826c6171fc1b | 39 | i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:826c6171fc1b | 40 | i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) |
shimniok | 0:826c6171fc1b | 41 | i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) |
shimniok | 0:826c6171fc1b | 42 | i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) |
shimniok | 0:826c6171fc1b | 43 | i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 44 | i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 45 | i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 46 | |
shimniok | 0:826c6171fc1b | 47 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:826c6171fc1b | 48 | } |
shimniok | 0:826c6171fc1b | 49 | |
shimniok | 0:826c6171fc1b | 50 | /** |
shimniok | 0:826c6171fc1b | 51 | * @brief Pack a attitude message |
shimniok | 0:826c6171fc1b | 52 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 53 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 54 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:826c6171fc1b | 55 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 56 | * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:826c6171fc1b | 57 | * @param roll Roll angle (rad) |
shimniok | 0:826c6171fc1b | 58 | * @param pitch Pitch angle (rad) |
shimniok | 0:826c6171fc1b | 59 | * @param yaw Yaw angle (rad) |
shimniok | 0:826c6171fc1b | 60 | * @param rollspeed Roll angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 61 | * @param pitchspeed Pitch angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 62 | * @param yawspeed Yaw angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 63 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:826c6171fc1b | 64 | */ |
shimniok | 0:826c6171fc1b | 65 | static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) |
shimniok | 0:826c6171fc1b | 66 | { |
shimniok | 0:826c6171fc1b | 67 | uint16_t i = 0; |
shimniok | 0:826c6171fc1b | 68 | msg->msgid = MAVLINK_MSG_ID_ATTITUDE; |
shimniok | 0:826c6171fc1b | 69 | |
shimniok | 0:826c6171fc1b | 70 | i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:826c6171fc1b | 71 | i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) |
shimniok | 0:826c6171fc1b | 72 | i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) |
shimniok | 0:826c6171fc1b | 73 | i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) |
shimniok | 0:826c6171fc1b | 74 | i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 75 | i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 76 | i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 77 | |
shimniok | 0:826c6171fc1b | 78 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:826c6171fc1b | 79 | } |
shimniok | 0:826c6171fc1b | 80 | |
shimniok | 0:826c6171fc1b | 81 | /** |
shimniok | 0:826c6171fc1b | 82 | * @brief Encode a attitude struct into a message |
shimniok | 0:826c6171fc1b | 83 | * |
shimniok | 0:826c6171fc1b | 84 | * @param system_id ID of this system |
shimniok | 0:826c6171fc1b | 85 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:826c6171fc1b | 86 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:826c6171fc1b | 87 | * @param attitude C-struct to read the message contents from |
shimniok | 0:826c6171fc1b | 88 | */ |
shimniok | 0:826c6171fc1b | 89 | 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) |
shimniok | 0:826c6171fc1b | 90 | { |
shimniok | 0:826c6171fc1b | 91 | return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->usec, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed); |
shimniok | 0:826c6171fc1b | 92 | } |
shimniok | 0:826c6171fc1b | 93 | |
shimniok | 0:826c6171fc1b | 94 | /** |
shimniok | 0:826c6171fc1b | 95 | * @brief Send a attitude message |
shimniok | 0:826c6171fc1b | 96 | * @param chan MAVLink channel to send the message |
shimniok | 0:826c6171fc1b | 97 | * |
shimniok | 0:826c6171fc1b | 98 | * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:826c6171fc1b | 99 | * @param roll Roll angle (rad) |
shimniok | 0:826c6171fc1b | 100 | * @param pitch Pitch angle (rad) |
shimniok | 0:826c6171fc1b | 101 | * @param yaw Yaw angle (rad) |
shimniok | 0:826c6171fc1b | 102 | * @param rollspeed Roll angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 103 | * @param pitchspeed Pitch angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 104 | * @param yawspeed Yaw angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 105 | */ |
shimniok | 0:826c6171fc1b | 106 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:826c6171fc1b | 107 | |
shimniok | 0:826c6171fc1b | 108 | static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) |
shimniok | 0:826c6171fc1b | 109 | { |
shimniok | 0:826c6171fc1b | 110 | mavlink_message_t msg; |
shimniok | 0:826c6171fc1b | 111 | mavlink_msg_attitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed); |
shimniok | 0:826c6171fc1b | 112 | mavlink_send_uart(chan, &msg); |
shimniok | 0:826c6171fc1b | 113 | } |
shimniok | 0:826c6171fc1b | 114 | |
shimniok | 0:826c6171fc1b | 115 | #endif |
shimniok | 0:826c6171fc1b | 116 | // MESSAGE ATTITUDE UNPACKING |
shimniok | 0:826c6171fc1b | 117 | |
shimniok | 0:826c6171fc1b | 118 | /** |
shimniok | 0:826c6171fc1b | 119 | * @brief Get field usec from attitude message |
shimniok | 0:826c6171fc1b | 120 | * |
shimniok | 0:826c6171fc1b | 121 | * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:826c6171fc1b | 122 | */ |
shimniok | 0:826c6171fc1b | 123 | static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 124 | { |
shimniok | 0:826c6171fc1b | 125 | generic_64bit r; |
shimniok | 0:826c6171fc1b | 126 | r.b[7] = (msg->payload)[0]; |
shimniok | 0:826c6171fc1b | 127 | r.b[6] = (msg->payload)[1]; |
shimniok | 0:826c6171fc1b | 128 | r.b[5] = (msg->payload)[2]; |
shimniok | 0:826c6171fc1b | 129 | r.b[4] = (msg->payload)[3]; |
shimniok | 0:826c6171fc1b | 130 | r.b[3] = (msg->payload)[4]; |
shimniok | 0:826c6171fc1b | 131 | r.b[2] = (msg->payload)[5]; |
shimniok | 0:826c6171fc1b | 132 | r.b[1] = (msg->payload)[6]; |
shimniok | 0:826c6171fc1b | 133 | r.b[0] = (msg->payload)[7]; |
shimniok | 0:826c6171fc1b | 134 | return (uint64_t)r.ll; |
shimniok | 0:826c6171fc1b | 135 | } |
shimniok | 0:826c6171fc1b | 136 | |
shimniok | 0:826c6171fc1b | 137 | /** |
shimniok | 0:826c6171fc1b | 138 | * @brief Get field roll from attitude message |
shimniok | 0:826c6171fc1b | 139 | * |
shimniok | 0:826c6171fc1b | 140 | * @return Roll angle (rad) |
shimniok | 0:826c6171fc1b | 141 | */ |
shimniok | 0:826c6171fc1b | 142 | static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 143 | { |
shimniok | 0:826c6171fc1b | 144 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 145 | r.b[3] = (msg->payload+sizeof(uint64_t))[0]; |
shimniok | 0:826c6171fc1b | 146 | r.b[2] = (msg->payload+sizeof(uint64_t))[1]; |
shimniok | 0:826c6171fc1b | 147 | r.b[1] = (msg->payload+sizeof(uint64_t))[2]; |
shimniok | 0:826c6171fc1b | 148 | r.b[0] = (msg->payload+sizeof(uint64_t))[3]; |
shimniok | 0:826c6171fc1b | 149 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 150 | } |
shimniok | 0:826c6171fc1b | 151 | |
shimniok | 0:826c6171fc1b | 152 | /** |
shimniok | 0:826c6171fc1b | 153 | * @brief Get field pitch from attitude message |
shimniok | 0:826c6171fc1b | 154 | * |
shimniok | 0:826c6171fc1b | 155 | * @return Pitch angle (rad) |
shimniok | 0:826c6171fc1b | 156 | */ |
shimniok | 0:826c6171fc1b | 157 | static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 158 | { |
shimniok | 0:826c6171fc1b | 159 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 160 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 161 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 162 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 163 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 164 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 165 | } |
shimniok | 0:826c6171fc1b | 166 | |
shimniok | 0:826c6171fc1b | 167 | /** |
shimniok | 0:826c6171fc1b | 168 | * @brief Get field yaw from attitude message |
shimniok | 0:826c6171fc1b | 169 | * |
shimniok | 0:826c6171fc1b | 170 | * @return Yaw angle (rad) |
shimniok | 0:826c6171fc1b | 171 | */ |
shimniok | 0:826c6171fc1b | 172 | static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 173 | { |
shimniok | 0:826c6171fc1b | 174 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 175 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 176 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 177 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 178 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 179 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 180 | } |
shimniok | 0:826c6171fc1b | 181 | |
shimniok | 0:826c6171fc1b | 182 | /** |
shimniok | 0:826c6171fc1b | 183 | * @brief Get field rollspeed from attitude message |
shimniok | 0:826c6171fc1b | 184 | * |
shimniok | 0:826c6171fc1b | 185 | * @return Roll angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 186 | */ |
shimniok | 0:826c6171fc1b | 187 | static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 188 | { |
shimniok | 0:826c6171fc1b | 189 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 190 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 191 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 192 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 193 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 194 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 195 | } |
shimniok | 0:826c6171fc1b | 196 | |
shimniok | 0:826c6171fc1b | 197 | /** |
shimniok | 0:826c6171fc1b | 198 | * @brief Get field pitchspeed from attitude message |
shimniok | 0:826c6171fc1b | 199 | * |
shimniok | 0:826c6171fc1b | 200 | * @return Pitch angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 201 | */ |
shimniok | 0:826c6171fc1b | 202 | static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 203 | { |
shimniok | 0:826c6171fc1b | 204 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 205 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 206 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 207 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 208 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 209 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 210 | } |
shimniok | 0:826c6171fc1b | 211 | |
shimniok | 0:826c6171fc1b | 212 | /** |
shimniok | 0:826c6171fc1b | 213 | * @brief Get field yawspeed from attitude message |
shimniok | 0:826c6171fc1b | 214 | * |
shimniok | 0:826c6171fc1b | 215 | * @return Yaw angular speed (rad/s) |
shimniok | 0:826c6171fc1b | 216 | */ |
shimniok | 0:826c6171fc1b | 217 | static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg) |
shimniok | 0:826c6171fc1b | 218 | { |
shimniok | 0:826c6171fc1b | 219 | generic_32bit r; |
shimniok | 0:826c6171fc1b | 220 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:826c6171fc1b | 221 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:826c6171fc1b | 222 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:826c6171fc1b | 223 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:826c6171fc1b | 224 | return (float)r.f; |
shimniok | 0:826c6171fc1b | 225 | } |
shimniok | 0:826c6171fc1b | 226 | |
shimniok | 0:826c6171fc1b | 227 | /** |
shimniok | 0:826c6171fc1b | 228 | * @brief Decode a attitude message into a struct |
shimniok | 0:826c6171fc1b | 229 | * |
shimniok | 0:826c6171fc1b | 230 | * @param msg The message to decode |
shimniok | 0:826c6171fc1b | 231 | * @param attitude C-struct to decode the message contents into |
shimniok | 0:826c6171fc1b | 232 | */ |
shimniok | 0:826c6171fc1b | 233 | static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude) |
shimniok | 0:826c6171fc1b | 234 | { |
shimniok | 0:826c6171fc1b | 235 | attitude->usec = mavlink_msg_attitude_get_usec(msg); |
shimniok | 0:826c6171fc1b | 236 | attitude->roll = mavlink_msg_attitude_get_roll(msg); |
shimniok | 0:826c6171fc1b | 237 | attitude->pitch = mavlink_msg_attitude_get_pitch(msg); |
shimniok | 0:826c6171fc1b | 238 | attitude->yaw = mavlink_msg_attitude_get_yaw(msg); |
shimniok | 0:826c6171fc1b | 239 | attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg); |
shimniok | 0:826c6171fc1b | 240 | attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg); |
shimniok | 0:826c6171fc1b | 241 | attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg); |
shimniok | 0:826c6171fc1b | 242 | } |