mavlink_msg_state_correction.h

00001 // MESSAGE STATE_CORRECTION PACKING
00002 
00003 #define MAVLINK_MSG_ID_STATE_CORRECTION 64
00004 
00005 typedef struct __mavlink_state_correction_t 
00006 {
00007     float xErr; ///< x position error
00008     float yErr; ///< y position error
00009     float zErr; ///< z position error
00010     float rollErr; ///< roll error (radians)
00011     float pitchErr; ///< pitch error (radians)
00012     float yawErr; ///< yaw error (radians)
00013     float vxErr; ///< x velocity
00014     float vyErr; ///< y velocity
00015     float vzErr; ///< z velocity
00016 
00017 } mavlink_state_correction_t;
00018 
00019 
00020 
00021 /**
00022  * @brief Pack a state_correction message
00023  * @param system_id ID of this system
00024  * @param component_id ID of this component (e.g. 200 for IMU)
00025  * @param msg The MAVLink message to compress the data into
00026  *
00027  * @param xErr x position error
00028  * @param yErr y position error
00029  * @param zErr z position error
00030  * @param rollErr roll error (radians)
00031  * @param pitchErr pitch error (radians)
00032  * @param yawErr yaw error (radians)
00033  * @param vxErr x velocity
00034  * @param vyErr y velocity
00035  * @param vzErr z velocity
00036  * @return length of the message in bytes (excluding serial stream start sign)
00037  */
00038 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)
00039 {
00040     uint16_t i = 0;
00041     msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
00042 
00043     i += put_float_by_index(xErr, i, msg->payload); // x position error
00044     i += put_float_by_index(yErr, i, msg->payload); // y position error
00045     i += put_float_by_index(zErr, i, msg->payload); // z position error
00046     i += put_float_by_index(rollErr, i, msg->payload); // roll error (radians)
00047     i += put_float_by_index(pitchErr, i, msg->payload); // pitch error (radians)
00048     i += put_float_by_index(yawErr, i, msg->payload); // yaw error (radians)
00049     i += put_float_by_index(vxErr, i, msg->payload); // x velocity
00050     i += put_float_by_index(vyErr, i, msg->payload); // y velocity
00051     i += put_float_by_index(vzErr, i, msg->payload); // z velocity
00052 
00053     return mavlink_finalize_message(msg, system_id, component_id, i);
00054 }
00055 
00056 /**
00057  * @brief Pack a state_correction message
00058  * @param system_id ID of this system
00059  * @param component_id ID of this component (e.g. 200 for IMU)
00060  * @param chan The MAVLink channel this message was sent over
00061  * @param msg The MAVLink message to compress the data into
00062  * @param xErr x position error
00063  * @param yErr y position error
00064  * @param zErr z position error
00065  * @param rollErr roll error (radians)
00066  * @param pitchErr pitch error (radians)
00067  * @param yawErr yaw error (radians)
00068  * @param vxErr x velocity
00069  * @param vyErr y velocity
00070  * @param vzErr z velocity
00071  * @return length of the message in bytes (excluding serial stream start sign)
00072  */
00073 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)
00074 {
00075     uint16_t i = 0;
00076     msg->msgid = MAVLINK_MSG_ID_STATE_CORRECTION;
00077 
00078     i += put_float_by_index(xErr, i, msg->payload); // x position error
00079     i += put_float_by_index(yErr, i, msg->payload); // y position error
00080     i += put_float_by_index(zErr, i, msg->payload); // z position error
00081     i += put_float_by_index(rollErr, i, msg->payload); // roll error (radians)
00082     i += put_float_by_index(pitchErr, i, msg->payload); // pitch error (radians)
00083     i += put_float_by_index(yawErr, i, msg->payload); // yaw error (radians)
00084     i += put_float_by_index(vxErr, i, msg->payload); // x velocity
00085     i += put_float_by_index(vyErr, i, msg->payload); // y velocity
00086     i += put_float_by_index(vzErr, i, msg->payload); // z velocity
00087 
00088     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00089 }
00090 
00091 /**
00092  * @brief Encode a state_correction struct into a message
00093  *
00094  * @param system_id ID of this system
00095  * @param component_id ID of this component (e.g. 200 for IMU)
00096  * @param msg The MAVLink message to compress the data into
00097  * @param state_correction C-struct to read the message contents from
00098  */
00099 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)
00100 {
00101     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);
00102 }
00103 
00104 /**
00105  * @brief Send a state_correction message
00106  * @param chan MAVLink channel to send the message
00107  *
00108  * @param xErr x position error
00109  * @param yErr y position error
00110  * @param zErr z position error
00111  * @param rollErr roll error (radians)
00112  * @param pitchErr pitch error (radians)
00113  * @param yawErr yaw error (radians)
00114  * @param vxErr x velocity
00115  * @param vyErr y velocity
00116  * @param vzErr z velocity
00117  */
00118 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00119 
00120 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)
00121 {
00122     mavlink_message_t msg;
00123     mavlink_msg_state_correction_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, xErr, yErr, zErr, rollErr, pitchErr, yawErr, vxErr, vyErr, vzErr);
00124     mavlink_send_uart(chan, &msg);
00125 }
00126 
00127 #endif
00128 // MESSAGE STATE_CORRECTION UNPACKING
00129 
00130 /**
00131  * @brief Get field xErr from state_correction message
00132  *
00133  * @return x position error
00134  */
00135 static inline float mavlink_msg_state_correction_get_xErr(const mavlink_message_t* msg)
00136 {
00137     generic_32bit r;
00138     r.b[3] = (msg->payload)[0];
00139     r.b[2] = (msg->payload)[1];
00140     r.b[1] = (msg->payload)[2];
00141     r.b[0] = (msg->payload)[3];
00142     return (float)r.f;
00143 }
00144 
00145 /**
00146  * @brief Get field yErr from state_correction message
00147  *
00148  * @return y position error
00149  */
00150 static inline float mavlink_msg_state_correction_get_yErr(const mavlink_message_t* msg)
00151 {
00152     generic_32bit r;
00153     r.b[3] = (msg->payload+sizeof(float))[0];
00154     r.b[2] = (msg->payload+sizeof(float))[1];
00155     r.b[1] = (msg->payload+sizeof(float))[2];
00156     r.b[0] = (msg->payload+sizeof(float))[3];
00157     return (float)r.f;
00158 }
00159 
00160 /**
00161  * @brief Get field zErr from state_correction message
00162  *
00163  * @return z position error
00164  */
00165 static inline float mavlink_msg_state_correction_get_zErr(const mavlink_message_t* msg)
00166 {
00167     generic_32bit r;
00168     r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0];
00169     r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1];
00170     r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2];
00171     r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3];
00172     return (float)r.f;
00173 }
00174 
00175 /**
00176  * @brief Get field rollErr from state_correction message
00177  *
00178  * @return roll error (radians)
00179  */
00180 static inline float mavlink_msg_state_correction_get_rollErr(const mavlink_message_t* msg)
00181 {
00182     generic_32bit r;
00183     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0];
00184     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1];
00185     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2];
00186     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3];
00187     return (float)r.f;
00188 }
00189 
00190 /**
00191  * @brief Get field pitchErr from state_correction message
00192  *
00193  * @return pitch error (radians)
00194  */
00195 static inline float mavlink_msg_state_correction_get_pitchErr(const mavlink_message_t* msg)
00196 {
00197     generic_32bit r;
00198     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00199     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00200     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00201     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00202     return (float)r.f;
00203 }
00204 
00205 /**
00206  * @brief Get field yawErr from state_correction message
00207  *
00208  * @return yaw error (radians)
00209  */
00210 static inline float mavlink_msg_state_correction_get_yawErr(const mavlink_message_t* msg)
00211 {
00212     generic_32bit r;
00213     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00214     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00215     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00216     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00217     return (float)r.f;
00218 }
00219 
00220 /**
00221  * @brief Get field vxErr from state_correction message
00222  *
00223  * @return x velocity
00224  */
00225 static inline float mavlink_msg_state_correction_get_vxErr(const mavlink_message_t* msg)
00226 {
00227     generic_32bit r;
00228     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00229     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00230     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00231     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00232     return (float)r.f;
00233 }
00234 
00235 /**
00236  * @brief Get field vyErr from state_correction message
00237  *
00238  * @return y velocity
00239  */
00240 static inline float mavlink_msg_state_correction_get_vyErr(const mavlink_message_t* msg)
00241 {
00242     generic_32bit r;
00243     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00244     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00245     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00246     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00247     return (float)r.f;
00248 }
00249 
00250 /**
00251  * @brief Get field vzErr from state_correction message
00252  *
00253  * @return z velocity
00254  */
00255 static inline float mavlink_msg_state_correction_get_vzErr(const mavlink_message_t* msg)
00256 {
00257     generic_32bit r;
00258     r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00259     r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00260     r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00261     r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00262     return (float)r.f;
00263 }
00264 
00265 /**
00266  * @brief Decode a state_correction message into a struct
00267  *
00268  * @param msg The message to decode
00269  * @param state_correction C-struct to decode the message contents into
00270  */
00271 static inline void mavlink_msg_state_correction_decode(const mavlink_message_t* msg, mavlink_state_correction_t* state_correction)
00272 {
00273     state_correction->xErr = mavlink_msg_state_correction_get_xErr(msg);
00274     state_correction->yErr = mavlink_msg_state_correction_get_yErr(msg);
00275     state_correction->zErr = mavlink_msg_state_correction_get_zErr(msg);
00276     state_correction->rollErr = mavlink_msg_state_correction_get_rollErr(msg);
00277     state_correction->pitchErr = mavlink_msg_state_correction_get_pitchErr(msg);
00278     state_correction->yawErr = mavlink_msg_state_correction_get_yawErr(msg);
00279     state_correction->vxErr = mavlink_msg_state_correction_get_vxErr(msg);
00280     state_correction->vyErr = mavlink_msg_state_correction_get_vyErr(msg);
00281     state_correction->vzErr = mavlink_msg_state_correction_get_vzErr(msg);
00282 }