Michael Shimniok / Mbed 2 deprecated DataBus

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@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
0:a6a169de725f 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew 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 }