mavlink_msg_sensor_bias.h

00001 // MESSAGE SENSOR_BIAS PACKING
00002 
00003 #define MAVLINK_MSG_ID_SENSOR_BIAS 172
00004 
00005 typedef struct __mavlink_sensor_bias_t 
00006 {
00007     float axBias; ///< Accelerometer X bias (m/s)
00008     float ayBias; ///< Accelerometer Y bias (m/s)
00009     float azBias; ///< Accelerometer Z bias (m/s)
00010     float gxBias; ///< Gyro X bias (rad/s)
00011     float gyBias; ///< Gyro Y bias (rad/s)
00012     float gzBias; ///< Gyro Z bias (rad/s)
00013 
00014 } mavlink_sensor_bias_t;
00015 
00016 
00017 
00018 /**
00019  * @brief Pack a sensor_bias message
00020  * @param system_id ID of this system
00021  * @param component_id ID of this component (e.g. 200 for IMU)
00022  * @param msg The MAVLink message to compress the data into
00023  *
00024  * @param axBias Accelerometer X bias (m/s)
00025  * @param ayBias Accelerometer Y bias (m/s)
00026  * @param azBias Accelerometer Z bias (m/s)
00027  * @param gxBias Gyro X bias (rad/s)
00028  * @param gyBias Gyro Y bias (rad/s)
00029  * @param gzBias Gyro Z bias (rad/s)
00030  * @return length of the message in bytes (excluding serial stream start sign)
00031  */
00032 static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
00033 {
00034     uint16_t i = 0;
00035     msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS;
00036 
00037     i += put_float_by_index(axBias, i, msg->payload); // Accelerometer X bias (m/s)
00038     i += put_float_by_index(ayBias, i, msg->payload); // Accelerometer Y bias (m/s)
00039     i += put_float_by_index(azBias, i, msg->payload); // Accelerometer Z bias (m/s)
00040     i += put_float_by_index(gxBias, i, msg->payload); // Gyro X bias (rad/s)
00041     i += put_float_by_index(gyBias, i, msg->payload); // Gyro Y bias (rad/s)
00042     i += put_float_by_index(gzBias, i, msg->payload); // Gyro Z bias (rad/s)
00043 
00044     return mavlink_finalize_message(msg, system_id, component_id, i);
00045 }
00046 
00047 /**
00048  * @brief Pack a sensor_bias message
00049  * @param system_id ID of this system
00050  * @param component_id ID of this component (e.g. 200 for IMU)
00051  * @param chan The MAVLink channel this message was sent over
00052  * @param msg The MAVLink message to compress the data into
00053  * @param axBias Accelerometer X bias (m/s)
00054  * @param ayBias Accelerometer Y bias (m/s)
00055  * @param azBias Accelerometer Z bias (m/s)
00056  * @param gxBias Gyro X bias (rad/s)
00057  * @param gyBias Gyro Y bias (rad/s)
00058  * @param gzBias Gyro Z bias (rad/s)
00059  * @return length of the message in bytes (excluding serial stream start sign)
00060  */
00061 static inline uint16_t mavlink_msg_sensor_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
00062 {
00063     uint16_t i = 0;
00064     msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS;
00065 
00066     i += put_float_by_index(axBias, i, msg->payload); // Accelerometer X bias (m/s)
00067     i += put_float_by_index(ayBias, i, msg->payload); // Accelerometer Y bias (m/s)
00068     i += put_float_by_index(azBias, i, msg->payload); // Accelerometer Z bias (m/s)
00069     i += put_float_by_index(gxBias, i, msg->payload); // Gyro X bias (rad/s)
00070     i += put_float_by_index(gyBias, i, msg->payload); // Gyro Y bias (rad/s)
00071     i += put_float_by_index(gzBias, i, msg->payload); // Gyro Z bias (rad/s)
00072 
00073     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00074 }
00075 
00076 /**
00077  * @brief Encode a sensor_bias struct into a message
00078  *
00079  * @param system_id ID of this system
00080  * @param component_id ID of this component (e.g. 200 for IMU)
00081  * @param msg The MAVLink message to compress the data into
00082  * @param sensor_bias C-struct to read the message contents from
00083  */
00084 static inline uint16_t mavlink_msg_sensor_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_bias_t* sensor_bias)
00085 {
00086     return mavlink_msg_sensor_bias_pack(system_id, component_id, msg, sensor_bias->axBias, sensor_bias->ayBias, sensor_bias->azBias, sensor_bias->gxBias, sensor_bias->gyBias, sensor_bias->gzBias);
00087 }
00088 
00089 /**
00090  * @brief Send a sensor_bias message
00091  * @param chan MAVLink channel to send the message
00092  *
00093  * @param axBias Accelerometer X bias (m/s)
00094  * @param ayBias Accelerometer Y bias (m/s)
00095  * @param azBias Accelerometer Z bias (m/s)
00096  * @param gxBias Gyro X bias (rad/s)
00097  * @param gyBias Gyro Y bias (rad/s)
00098  * @param gzBias Gyro Z bias (rad/s)
00099  */
00100 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00101 
00102 static inline void mavlink_msg_sensor_bias_send(mavlink_channel_t chan, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
00103 {
00104     mavlink_message_t msg;
00105     mavlink_msg_sensor_bias_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, axBias, ayBias, azBias, gxBias, gyBias, gzBias);
00106     mavlink_send_uart(chan, &msg);
00107 }
00108 
00109 #endif
00110 // MESSAGE SENSOR_BIAS UNPACKING
00111 
00112 /**
00113  * @brief Get field axBias from sensor_bias message
00114  *
00115  * @return Accelerometer X bias (m/s)
00116  */
00117 static inline float mavlink_msg_sensor_bias_get_axBias(const mavlink_message_t* msg)
00118 {
00119     generic_32bit r;
00120     r.b[3] = (msg->payload)[0];
00121     r.b[2] = (msg->payload)[1];
00122     r.b[1] = (msg->payload)[2];
00123     r.b[0] = (msg->payload)[3];
00124     return (float)r.f;
00125 }
00126 
00127 /**
00128  * @brief Get field ayBias from sensor_bias message
00129  *
00130  * @return Accelerometer Y bias (m/s)
00131  */
00132 static inline float mavlink_msg_sensor_bias_get_ayBias(const mavlink_message_t* msg)
00133 {
00134     generic_32bit r;
00135     r.b[3] = (msg->payload+sizeof(float))[0];
00136     r.b[2] = (msg->payload+sizeof(float))[1];
00137     r.b[1] = (msg->payload+sizeof(float))[2];
00138     r.b[0] = (msg->payload+sizeof(float))[3];
00139     return (float)r.f;
00140 }
00141 
00142 /**
00143  * @brief Get field azBias from sensor_bias message
00144  *
00145  * @return Accelerometer Z bias (m/s)
00146  */
00147 static inline float mavlink_msg_sensor_bias_get_azBias(const mavlink_message_t* msg)
00148 {
00149     generic_32bit r;
00150     r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
00151     r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
00152     r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
00153     r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
00154     return (float)r.f;
00155 }
00156 
00157 /**
00158  * @brief Get field gxBias from sensor_bias message
00159  *
00160  * @return Gyro X bias (rad/s)
00161  */
00162 static inline float mavlink_msg_sensor_bias_get_gxBias(const mavlink_message_t* msg)
00163 {
00164     generic_32bit r;
00165     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
00166     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
00167     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
00168     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
00169     return (float)r.f;
00170 }
00171 
00172 /**
00173  * @brief Get field gyBias from sensor_bias message
00174  *
00175  * @return Gyro Y bias (rad/s)
00176  */
00177 static inline float mavlink_msg_sensor_bias_get_gyBias(const mavlink_message_t* msg)
00178 {
00179     generic_32bit r;
00180     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00181     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00182     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00183     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00184     return (float)r.f;
00185 }
00186 
00187 /**
00188  * @brief Get field gzBias from sensor_bias message
00189  *
00190  * @return Gyro Z bias (rad/s)
00191  */
00192 static inline float mavlink_msg_sensor_bias_get_gzBias(const mavlink_message_t* msg)
00193 {
00194     generic_32bit r;
00195     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00196     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00197     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00198     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00199     return (float)r.f;
00200 }
00201 
00202 /**
00203  * @brief Decode a sensor_bias message into a struct
00204  *
00205  * @param msg The message to decode
00206  * @param sensor_bias C-struct to decode the message contents into
00207  */
00208 static inline void mavlink_msg_sensor_bias_decode(const mavlink_message_t* msg, mavlink_sensor_bias_t* sensor_bias)
00209 {
00210     sensor_bias->axBias = mavlink_msg_sensor_bias_get_axBias(msg);
00211     sensor_bias->ayBias = mavlink_msg_sensor_bias_get_ayBias(msg);
00212     sensor_bias->azBias = mavlink_msg_sensor_bias_get_azBias(msg);
00213     sensor_bias->gxBias = mavlink_msg_sensor_bias_get_gxBias(msg);
00214     sensor_bias->gyBias = mavlink_msg_sensor_bias_get_gyBias(msg);
00215     sensor_bias->gzBias = mavlink_msg_sensor_bias_get_gzBias(msg);
00216 }