Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
MAVlink/include/common/mavlink_msg_hil_state.h@0:a6a169de725f, 2013-05-27 (annotated)
- Committer:
- shimniok
- Date:
- Mon May 27 13:26:03 2013 +0000
- Revision:
- 0:a6a169de725f
Working version with priorities set and update time display
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | // MESSAGE HIL_STATE PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_HIL_STATE 67 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_hil_state_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 8 | float roll; ///< Roll angle (rad) |
shimniok | 0:a6a169de725f | 9 | float pitch; ///< Pitch angle (rad) |
shimniok | 0:a6a169de725f | 10 | float yaw; ///< Yaw angle (rad) |
shimniok | 0:a6a169de725f | 11 | float rollspeed; ///< Roll angular speed (rad/s) |
shimniok | 0:a6a169de725f | 12 | float pitchspeed; ///< Pitch angular speed (rad/s) |
shimniok | 0:a6a169de725f | 13 | float yawspeed; ///< Yaw angular speed (rad/s) |
shimniok | 0:a6a169de725f | 14 | int32_t lat; ///< Latitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 15 | int32_t lon; ///< Longitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 16 | int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) |
shimniok | 0:a6a169de725f | 17 | int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 18 | int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 19 | int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 20 | int16_t xacc; ///< X acceleration (mg) |
shimniok | 0:a6a169de725f | 21 | int16_t yacc; ///< Y acceleration (mg) |
shimniok | 0:a6a169de725f | 22 | int16_t zacc; ///< Z acceleration (mg) |
shimniok | 0:a6a169de725f | 23 | |
shimniok | 0:a6a169de725f | 24 | } mavlink_hil_state_t; |
shimniok | 0:a6a169de725f | 25 | |
shimniok | 0:a6a169de725f | 26 | |
shimniok | 0:a6a169de725f | 27 | |
shimniok | 0:a6a169de725f | 28 | /** |
shimniok | 0:a6a169de725f | 29 | * @brief Pack a hil_state message |
shimniok | 0:a6a169de725f | 30 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 31 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 32 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 33 | * |
shimniok | 0:a6a169de725f | 34 | * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 35 | * @param roll Roll angle (rad) |
shimniok | 0:a6a169de725f | 36 | * @param pitch Pitch angle (rad) |
shimniok | 0:a6a169de725f | 37 | * @param yaw Yaw angle (rad) |
shimniok | 0:a6a169de725f | 38 | * @param rollspeed Roll angular speed (rad/s) |
shimniok | 0:a6a169de725f | 39 | * @param pitchspeed Pitch angular speed (rad/s) |
shimniok | 0:a6a169de725f | 40 | * @param yawspeed Yaw angular speed (rad/s) |
shimniok | 0:a6a169de725f | 41 | * @param lat Latitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 42 | * @param lon Longitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 43 | * @param alt Altitude in meters, expressed as * 1000 (millimeters) |
shimniok | 0:a6a169de725f | 44 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 45 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 46 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 47 | * @param xacc X acceleration (mg) |
shimniok | 0:a6a169de725f | 48 | * @param yacc Y acceleration (mg) |
shimniok | 0:a6a169de725f | 49 | * @param zacc Z acceleration (mg) |
shimniok | 0:a6a169de725f | 50 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 51 | */ |
shimniok | 0:a6a169de725f | 52 | static inline uint16_t mavlink_msg_hil_state_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, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) |
shimniok | 0:a6a169de725f | 53 | { |
shimniok | 0:a6a169de725f | 54 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 55 | msg->msgid = MAVLINK_MSG_ID_HIL_STATE; |
shimniok | 0:a6a169de725f | 56 | |
shimniok | 0:a6a169de725f | 57 | i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 58 | i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) |
shimniok | 0:a6a169de725f | 59 | i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) |
shimniok | 0:a6a169de725f | 60 | i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) |
shimniok | 0:a6a169de725f | 61 | i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) |
shimniok | 0:a6a169de725f | 62 | i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) |
shimniok | 0:a6a169de725f | 63 | i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) |
shimniok | 0:a6a169de725f | 64 | i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 65 | i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 66 | i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) |
shimniok | 0:a6a169de725f | 67 | i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 68 | i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 69 | i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 70 | i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) |
shimniok | 0:a6a169de725f | 71 | i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) |
shimniok | 0:a6a169de725f | 72 | i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) |
shimniok | 0:a6a169de725f | 73 | |
shimniok | 0:a6a169de725f | 74 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 75 | } |
shimniok | 0:a6a169de725f | 76 | |
shimniok | 0:a6a169de725f | 77 | /** |
shimniok | 0:a6a169de725f | 78 | * @brief Pack a hil_state message |
shimniok | 0:a6a169de725f | 79 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 80 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 81 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 82 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 83 | * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 84 | * @param roll Roll angle (rad) |
shimniok | 0:a6a169de725f | 85 | * @param pitch Pitch angle (rad) |
shimniok | 0:a6a169de725f | 86 | * @param yaw Yaw angle (rad) |
shimniok | 0:a6a169de725f | 87 | * @param rollspeed Roll angular speed (rad/s) |
shimniok | 0:a6a169de725f | 88 | * @param pitchspeed Pitch angular speed (rad/s) |
shimniok | 0:a6a169de725f | 89 | * @param yawspeed Yaw angular speed (rad/s) |
shimniok | 0:a6a169de725f | 90 | * @param lat Latitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 91 | * @param lon Longitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 92 | * @param alt Altitude in meters, expressed as * 1000 (millimeters) |
shimniok | 0:a6a169de725f | 93 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 94 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 95 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 96 | * @param xacc X acceleration (mg) |
shimniok | 0:a6a169de725f | 97 | * @param yacc Y acceleration (mg) |
shimniok | 0:a6a169de725f | 98 | * @param zacc Z acceleration (mg) |
shimniok | 0:a6a169de725f | 99 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 100 | */ |
shimniok | 0:a6a169de725f | 101 | static inline uint16_t mavlink_msg_hil_state_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, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) |
shimniok | 0:a6a169de725f | 102 | { |
shimniok | 0:a6a169de725f | 103 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 104 | msg->msgid = MAVLINK_MSG_ID_HIL_STATE; |
shimniok | 0:a6a169de725f | 105 | |
shimniok | 0:a6a169de725f | 106 | i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 107 | i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) |
shimniok | 0:a6a169de725f | 108 | i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) |
shimniok | 0:a6a169de725f | 109 | i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) |
shimniok | 0:a6a169de725f | 110 | i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) |
shimniok | 0:a6a169de725f | 111 | i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) |
shimniok | 0:a6a169de725f | 112 | i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) |
shimniok | 0:a6a169de725f | 113 | i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 114 | i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 115 | i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) |
shimniok | 0:a6a169de725f | 116 | i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 117 | i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 118 | i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 119 | i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) |
shimniok | 0:a6a169de725f | 120 | i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) |
shimniok | 0:a6a169de725f | 121 | i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) |
shimniok | 0:a6a169de725f | 122 | |
shimniok | 0:a6a169de725f | 123 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 124 | } |
shimniok | 0:a6a169de725f | 125 | |
shimniok | 0:a6a169de725f | 126 | /** |
shimniok | 0:a6a169de725f | 127 | * @brief Encode a hil_state struct into a message |
shimniok | 0:a6a169de725f | 128 | * |
shimniok | 0:a6a169de725f | 129 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 130 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 131 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 132 | * @param hil_state C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 133 | */ |
shimniok | 0:a6a169de725f | 134 | static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state) |
shimniok | 0:a6a169de725f | 135 | { |
shimniok | 0:a6a169de725f | 136 | return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc); |
shimniok | 0:a6a169de725f | 137 | } |
shimniok | 0:a6a169de725f | 138 | |
shimniok | 0:a6a169de725f | 139 | /** |
shimniok | 0:a6a169de725f | 140 | * @brief Send a hil_state message |
shimniok | 0:a6a169de725f | 141 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 142 | * |
shimniok | 0:a6a169de725f | 143 | * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 144 | * @param roll Roll angle (rad) |
shimniok | 0:a6a169de725f | 145 | * @param pitch Pitch angle (rad) |
shimniok | 0:a6a169de725f | 146 | * @param yaw Yaw angle (rad) |
shimniok | 0:a6a169de725f | 147 | * @param rollspeed Roll angular speed (rad/s) |
shimniok | 0:a6a169de725f | 148 | * @param pitchspeed Pitch angular speed (rad/s) |
shimniok | 0:a6a169de725f | 149 | * @param yawspeed Yaw angular speed (rad/s) |
shimniok | 0:a6a169de725f | 150 | * @param lat Latitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 151 | * @param lon Longitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 152 | * @param alt Altitude in meters, expressed as * 1000 (millimeters) |
shimniok | 0:a6a169de725f | 153 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 154 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 155 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 156 | * @param xacc X acceleration (mg) |
shimniok | 0:a6a169de725f | 157 | * @param yacc Y acceleration (mg) |
shimniok | 0:a6a169de725f | 158 | * @param zacc Z acceleration (mg) |
shimniok | 0:a6a169de725f | 159 | */ |
shimniok | 0:a6a169de725f | 160 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 161 | |
shimniok | 0:a6a169de725f | 162 | static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) |
shimniok | 0:a6a169de725f | 163 | { |
shimniok | 0:a6a169de725f | 164 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 165 | mavlink_msg_hil_state_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc); |
shimniok | 0:a6a169de725f | 166 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 167 | } |
shimniok | 0:a6a169de725f | 168 | |
shimniok | 0:a6a169de725f | 169 | #endif |
shimniok | 0:a6a169de725f | 170 | // MESSAGE HIL_STATE UNPACKING |
shimniok | 0:a6a169de725f | 171 | |
shimniok | 0:a6a169de725f | 172 | /** |
shimniok | 0:a6a169de725f | 173 | * @brief Get field usec from hil_state message |
shimniok | 0:a6a169de725f | 174 | * |
shimniok | 0:a6a169de725f | 175 | * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
shimniok | 0:a6a169de725f | 176 | */ |
shimniok | 0:a6a169de725f | 177 | static inline uint64_t mavlink_msg_hil_state_get_usec(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 178 | { |
shimniok | 0:a6a169de725f | 179 | generic_64bit r; |
shimniok | 0:a6a169de725f | 180 | r.b[7] = (msg->payload)[0]; |
shimniok | 0:a6a169de725f | 181 | r.b[6] = (msg->payload)[1]; |
shimniok | 0:a6a169de725f | 182 | r.b[5] = (msg->payload)[2]; |
shimniok | 0:a6a169de725f | 183 | r.b[4] = (msg->payload)[3]; |
shimniok | 0:a6a169de725f | 184 | r.b[3] = (msg->payload)[4]; |
shimniok | 0:a6a169de725f | 185 | r.b[2] = (msg->payload)[5]; |
shimniok | 0:a6a169de725f | 186 | r.b[1] = (msg->payload)[6]; |
shimniok | 0:a6a169de725f | 187 | r.b[0] = (msg->payload)[7]; |
shimniok | 0:a6a169de725f | 188 | return (uint64_t)r.ll; |
shimniok | 0:a6a169de725f | 189 | } |
shimniok | 0:a6a169de725f | 190 | |
shimniok | 0:a6a169de725f | 191 | /** |
shimniok | 0:a6a169de725f | 192 | * @brief Get field roll from hil_state message |
shimniok | 0:a6a169de725f | 193 | * |
shimniok | 0:a6a169de725f | 194 | * @return Roll angle (rad) |
shimniok | 0:a6a169de725f | 195 | */ |
shimniok | 0:a6a169de725f | 196 | static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 197 | { |
shimniok | 0:a6a169de725f | 198 | generic_32bit r; |
shimniok | 0:a6a169de725f | 199 | r.b[3] = (msg->payload+sizeof(uint64_t))[0]; |
shimniok | 0:a6a169de725f | 200 | r.b[2] = (msg->payload+sizeof(uint64_t))[1]; |
shimniok | 0:a6a169de725f | 201 | r.b[1] = (msg->payload+sizeof(uint64_t))[2]; |
shimniok | 0:a6a169de725f | 202 | r.b[0] = (msg->payload+sizeof(uint64_t))[3]; |
shimniok | 0:a6a169de725f | 203 | return (float)r.f; |
shimniok | 0:a6a169de725f | 204 | } |
shimniok | 0:a6a169de725f | 205 | |
shimniok | 0:a6a169de725f | 206 | /** |
shimniok | 0:a6a169de725f | 207 | * @brief Get field pitch from hil_state message |
shimniok | 0:a6a169de725f | 208 | * |
shimniok | 0:a6a169de725f | 209 | * @return Pitch angle (rad) |
shimniok | 0:a6a169de725f | 210 | */ |
shimniok | 0:a6a169de725f | 211 | static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 212 | { |
shimniok | 0:a6a169de725f | 213 | generic_32bit r; |
shimniok | 0:a6a169de725f | 214 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 215 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 216 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 217 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 218 | return (float)r.f; |
shimniok | 0:a6a169de725f | 219 | } |
shimniok | 0:a6a169de725f | 220 | |
shimniok | 0:a6a169de725f | 221 | /** |
shimniok | 0:a6a169de725f | 222 | * @brief Get field yaw from hil_state message |
shimniok | 0:a6a169de725f | 223 | * |
shimniok | 0:a6a169de725f | 224 | * @return Yaw angle (rad) |
shimniok | 0:a6a169de725f | 225 | */ |
shimniok | 0:a6a169de725f | 226 | static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 227 | { |
shimniok | 0:a6a169de725f | 228 | generic_32bit r; |
shimniok | 0:a6a169de725f | 229 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 230 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 231 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 232 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 233 | return (float)r.f; |
shimniok | 0:a6a169de725f | 234 | } |
shimniok | 0:a6a169de725f | 235 | |
shimniok | 0:a6a169de725f | 236 | /** |
shimniok | 0:a6a169de725f | 237 | * @brief Get field rollspeed from hil_state message |
shimniok | 0:a6a169de725f | 238 | * |
shimniok | 0:a6a169de725f | 239 | * @return Roll angular speed (rad/s) |
shimniok | 0:a6a169de725f | 240 | */ |
shimniok | 0:a6a169de725f | 241 | static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 242 | { |
shimniok | 0:a6a169de725f | 243 | generic_32bit r; |
shimniok | 0:a6a169de725f | 244 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 245 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 246 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 247 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 248 | return (float)r.f; |
shimniok | 0:a6a169de725f | 249 | } |
shimniok | 0:a6a169de725f | 250 | |
shimniok | 0:a6a169de725f | 251 | /** |
shimniok | 0:a6a169de725f | 252 | * @brief Get field pitchspeed from hil_state message |
shimniok | 0:a6a169de725f | 253 | * |
shimniok | 0:a6a169de725f | 254 | * @return Pitch angular speed (rad/s) |
shimniok | 0:a6a169de725f | 255 | */ |
shimniok | 0:a6a169de725f | 256 | static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 257 | { |
shimniok | 0:a6a169de725f | 258 | generic_32bit r; |
shimniok | 0:a6a169de725f | 259 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 260 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 261 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 262 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 263 | return (float)r.f; |
shimniok | 0:a6a169de725f | 264 | } |
shimniok | 0:a6a169de725f | 265 | |
shimniok | 0:a6a169de725f | 266 | /** |
shimniok | 0:a6a169de725f | 267 | * @brief Get field yawspeed from hil_state message |
shimniok | 0:a6a169de725f | 268 | * |
shimniok | 0:a6a169de725f | 269 | * @return Yaw angular speed (rad/s) |
shimniok | 0:a6a169de725f | 270 | */ |
shimniok | 0:a6a169de725f | 271 | static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 272 | { |
shimniok | 0:a6a169de725f | 273 | generic_32bit r; |
shimniok | 0:a6a169de725f | 274 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 275 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 276 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 277 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 278 | return (float)r.f; |
shimniok | 0:a6a169de725f | 279 | } |
shimniok | 0:a6a169de725f | 280 | |
shimniok | 0:a6a169de725f | 281 | /** |
shimniok | 0:a6a169de725f | 282 | * @brief Get field lat from hil_state message |
shimniok | 0:a6a169de725f | 283 | * |
shimniok | 0:a6a169de725f | 284 | * @return Latitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 285 | */ |
shimniok | 0:a6a169de725f | 286 | static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 287 | { |
shimniok | 0:a6a169de725f | 288 | generic_32bit r; |
shimniok | 0:a6a169de725f | 289 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 290 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 291 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 292 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 293 | return (int32_t)r.i; |
shimniok | 0:a6a169de725f | 294 | } |
shimniok | 0:a6a169de725f | 295 | |
shimniok | 0:a6a169de725f | 296 | /** |
shimniok | 0:a6a169de725f | 297 | * @brief Get field lon from hil_state message |
shimniok | 0:a6a169de725f | 298 | * |
shimniok | 0:a6a169de725f | 299 | * @return Longitude, expressed as * 1E7 |
shimniok | 0:a6a169de725f | 300 | */ |
shimniok | 0:a6a169de725f | 301 | static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 302 | { |
shimniok | 0:a6a169de725f | 303 | generic_32bit r; |
shimniok | 0:a6a169de725f | 304 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[0]; |
shimniok | 0:a6a169de725f | 305 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[1]; |
shimniok | 0:a6a169de725f | 306 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[2]; |
shimniok | 0:a6a169de725f | 307 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[3]; |
shimniok | 0:a6a169de725f | 308 | return (int32_t)r.i; |
shimniok | 0:a6a169de725f | 309 | } |
shimniok | 0:a6a169de725f | 310 | |
shimniok | 0:a6a169de725f | 311 | /** |
shimniok | 0:a6a169de725f | 312 | * @brief Get field alt from hil_state message |
shimniok | 0:a6a169de725f | 313 | * |
shimniok | 0:a6a169de725f | 314 | * @return Altitude in meters, expressed as * 1000 (millimeters) |
shimniok | 0:a6a169de725f | 315 | */ |
shimniok | 0:a6a169de725f | 316 | static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 317 | { |
shimniok | 0:a6a169de725f | 318 | generic_32bit r; |
shimniok | 0:a6a169de725f | 319 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0]; |
shimniok | 0:a6a169de725f | 320 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1]; |
shimniok | 0:a6a169de725f | 321 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2]; |
shimniok | 0:a6a169de725f | 322 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3]; |
shimniok | 0:a6a169de725f | 323 | return (int32_t)r.i; |
shimniok | 0:a6a169de725f | 324 | } |
shimniok | 0:a6a169de725f | 325 | |
shimniok | 0:a6a169de725f | 326 | /** |
shimniok | 0:a6a169de725f | 327 | * @brief Get field vx from hil_state message |
shimniok | 0:a6a169de725f | 328 | * |
shimniok | 0:a6a169de725f | 329 | * @return Ground X Speed (Latitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 330 | */ |
shimniok | 0:a6a169de725f | 331 | static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 332 | { |
shimniok | 0:a6a169de725f | 333 | generic_16bit r; |
shimniok | 0:a6a169de725f | 334 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0]; |
shimniok | 0:a6a169de725f | 335 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1]; |
shimniok | 0:a6a169de725f | 336 | return (int16_t)r.s; |
shimniok | 0:a6a169de725f | 337 | } |
shimniok | 0:a6a169de725f | 338 | |
shimniok | 0:a6a169de725f | 339 | /** |
shimniok | 0:a6a169de725f | 340 | * @brief Get field vy from hil_state message |
shimniok | 0:a6a169de725f | 341 | * |
shimniok | 0:a6a169de725f | 342 | * @return Ground Y Speed (Longitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 343 | */ |
shimniok | 0:a6a169de725f | 344 | static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 345 | { |
shimniok | 0:a6a169de725f | 346 | generic_16bit r; |
shimniok | 0:a6a169de725f | 347 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0]; |
shimniok | 0:a6a169de725f | 348 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1]; |
shimniok | 0:a6a169de725f | 349 | return (int16_t)r.s; |
shimniok | 0:a6a169de725f | 350 | } |
shimniok | 0:a6a169de725f | 351 | |
shimniok | 0:a6a169de725f | 352 | /** |
shimniok | 0:a6a169de725f | 353 | * @brief Get field vz from hil_state message |
shimniok | 0:a6a169de725f | 354 | * |
shimniok | 0:a6a169de725f | 355 | * @return Ground Z Speed (Altitude), expressed as m/s * 100 |
shimniok | 0:a6a169de725f | 356 | */ |
shimniok | 0:a6a169de725f | 357 | static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 358 | { |
shimniok | 0:a6a169de725f | 359 | generic_16bit r; |
shimniok | 0:a6a169de725f | 360 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
shimniok | 0:a6a169de725f | 361 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
shimniok | 0:a6a169de725f | 362 | return (int16_t)r.s; |
shimniok | 0:a6a169de725f | 363 | } |
shimniok | 0:a6a169de725f | 364 | |
shimniok | 0:a6a169de725f | 365 | /** |
shimniok | 0:a6a169de725f | 366 | * @brief Get field xacc from hil_state message |
shimniok | 0:a6a169de725f | 367 | * |
shimniok | 0:a6a169de725f | 368 | * @return X acceleration (mg) |
shimniok | 0:a6a169de725f | 369 | */ |
shimniok | 0:a6a169de725f | 370 | static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 371 | { |
shimniok | 0:a6a169de725f | 372 | generic_16bit r; |
shimniok | 0:a6a169de725f | 373 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
shimniok | 0:a6a169de725f | 374 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
shimniok | 0:a6a169de725f | 375 | return (int16_t)r.s; |
shimniok | 0:a6a169de725f | 376 | } |
shimniok | 0:a6a169de725f | 377 | |
shimniok | 0:a6a169de725f | 378 | /** |
shimniok | 0:a6a169de725f | 379 | * @brief Get field yacc from hil_state message |
shimniok | 0:a6a169de725f | 380 | * |
shimniok | 0:a6a169de725f | 381 | * @return Y acceleration (mg) |
shimniok | 0:a6a169de725f | 382 | */ |
shimniok | 0:a6a169de725f | 383 | static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 384 | { |
shimniok | 0:a6a169de725f | 385 | generic_16bit r; |
shimniok | 0:a6a169de725f | 386 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
shimniok | 0:a6a169de725f | 387 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
shimniok | 0:a6a169de725f | 388 | return (int16_t)r.s; |
shimniok | 0:a6a169de725f | 389 | } |
shimniok | 0:a6a169de725f | 390 | |
shimniok | 0:a6a169de725f | 391 | /** |
shimniok | 0:a6a169de725f | 392 | * @brief Get field zacc from hil_state message |
shimniok | 0:a6a169de725f | 393 | * |
shimniok | 0:a6a169de725f | 394 | * @return Z acceleration (mg) |
shimniok | 0:a6a169de725f | 395 | */ |
shimniok | 0:a6a169de725f | 396 | static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 397 | { |
shimniok | 0:a6a169de725f | 398 | generic_16bit r; |
shimniok | 0:a6a169de725f | 399 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
shimniok | 0:a6a169de725f | 400 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
shimniok | 0:a6a169de725f | 401 | return (int16_t)r.s; |
shimniok | 0:a6a169de725f | 402 | } |
shimniok | 0:a6a169de725f | 403 | |
shimniok | 0:a6a169de725f | 404 | /** |
shimniok | 0:a6a169de725f | 405 | * @brief Decode a hil_state message into a struct |
shimniok | 0:a6a169de725f | 406 | * |
shimniok | 0:a6a169de725f | 407 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 408 | * @param hil_state C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 409 | */ |
shimniok | 0:a6a169de725f | 410 | static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state) |
shimniok | 0:a6a169de725f | 411 | { |
shimniok | 0:a6a169de725f | 412 | hil_state->usec = mavlink_msg_hil_state_get_usec(msg); |
shimniok | 0:a6a169de725f | 413 | hil_state->roll = mavlink_msg_hil_state_get_roll(msg); |
shimniok | 0:a6a169de725f | 414 | hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg); |
shimniok | 0:a6a169de725f | 415 | hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg); |
shimniok | 0:a6a169de725f | 416 | hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg); |
shimniok | 0:a6a169de725f | 417 | hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg); |
shimniok | 0:a6a169de725f | 418 | hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg); |
shimniok | 0:a6a169de725f | 419 | hil_state->lat = mavlink_msg_hil_state_get_lat(msg); |
shimniok | 0:a6a169de725f | 420 | hil_state->lon = mavlink_msg_hil_state_get_lon(msg); |
shimniok | 0:a6a169de725f | 421 | hil_state->alt = mavlink_msg_hil_state_get_alt(msg); |
shimniok | 0:a6a169de725f | 422 | hil_state->vx = mavlink_msg_hil_state_get_vx(msg); |
shimniok | 0:a6a169de725f | 423 | hil_state->vy = mavlink_msg_hil_state_get_vy(msg); |
shimniok | 0:a6a169de725f | 424 | hil_state->vz = mavlink_msg_hil_state_get_vz(msg); |
shimniok | 0:a6a169de725f | 425 | hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg); |
shimniok | 0:a6a169de725f | 426 | hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg); |
shimniok | 0:a6a169de725f | 427 | hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg); |
shimniok | 0:a6a169de725f | 428 | } |