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_raw_imu.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 RAW_IMU PACKING
shimniok 0:a6a169de725f 2
shimniok 0:a6a169de725f 3 #define MAVLINK_MSG_ID_RAW_IMU 28
shimniok 0:a6a169de725f 4
shimniok 0:a6a169de725f 5 typedef struct __mavlink_raw_imu_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 int16_t xacc; ///< X acceleration (raw)
shimniok 0:a6a169de725f 9 int16_t yacc; ///< Y acceleration (raw)
shimniok 0:a6a169de725f 10 int16_t zacc; ///< Z acceleration (raw)
shimniok 0:a6a169de725f 11 int16_t xgyro; ///< Angular speed around X axis (raw)
shimniok 0:a6a169de725f 12 int16_t ygyro; ///< Angular speed around Y axis (raw)
shimniok 0:a6a169de725f 13 int16_t zgyro; ///< Angular speed around Z axis (raw)
shimniok 0:a6a169de725f 14 int16_t xmag; ///< X Magnetic field (raw)
shimniok 0:a6a169de725f 15 int16_t ymag; ///< Y Magnetic field (raw)
shimniok 0:a6a169de725f 16 int16_t zmag; ///< Z Magnetic field (raw)
shimniok 0:a6a169de725f 17
shimniok 0:a6a169de725f 18 } mavlink_raw_imu_t;
shimniok 0:a6a169de725f 19
shimniok 0:a6a169de725f 20
shimniok 0:a6a169de725f 21
shimniok 0:a6a169de725f 22 /**
shimniok 0:a6a169de725f 23 * @brief Pack a raw_imu message
shimniok 0:a6a169de725f 24 * @param system_id ID of this system
shimniok 0:a6a169de725f 25 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 26 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 27 *
shimniok 0:a6a169de725f 28 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 29 * @param xacc X acceleration (raw)
shimniok 0:a6a169de725f 30 * @param yacc Y acceleration (raw)
shimniok 0:a6a169de725f 31 * @param zacc Z acceleration (raw)
shimniok 0:a6a169de725f 32 * @param xgyro Angular speed around X axis (raw)
shimniok 0:a6a169de725f 33 * @param ygyro Angular speed around Y axis (raw)
shimniok 0:a6a169de725f 34 * @param zgyro Angular speed around Z axis (raw)
shimniok 0:a6a169de725f 35 * @param xmag X Magnetic field (raw)
shimniok 0:a6a169de725f 36 * @param ymag Y Magnetic field (raw)
shimniok 0:a6a169de725f 37 * @param zmag Z Magnetic field (raw)
shimniok 0:a6a169de725f 38 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 39 */
shimniok 0:a6a169de725f 40 static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
shimniok 0:a6a169de725f 41 {
shimniok 0:a6a169de725f 42 uint16_t i = 0;
shimniok 0:a6a169de725f 43 msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
shimniok 0:a6a169de725f 44
shimniok 0:a6a169de725f 45 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 46 i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (raw)
shimniok 0:a6a169de725f 47 i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (raw)
shimniok 0:a6a169de725f 48 i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (raw)
shimniok 0:a6a169de725f 49 i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (raw)
shimniok 0:a6a169de725f 50 i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (raw)
shimniok 0:a6a169de725f 51 i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (raw)
shimniok 0:a6a169de725f 52 i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (raw)
shimniok 0:a6a169de725f 53 i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (raw)
shimniok 0:a6a169de725f 54 i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (raw)
shimniok 0:a6a169de725f 55
shimniok 0:a6a169de725f 56 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:a6a169de725f 57 }
shimniok 0:a6a169de725f 58
shimniok 0:a6a169de725f 59 /**
shimniok 0:a6a169de725f 60 * @brief Pack a raw_imu message
shimniok 0:a6a169de725f 61 * @param system_id ID of this system
shimniok 0:a6a169de725f 62 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 63 * @param chan The MAVLink channel this message was sent over
shimniok 0:a6a169de725f 64 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 65 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 66 * @param xacc X acceleration (raw)
shimniok 0:a6a169de725f 67 * @param yacc Y acceleration (raw)
shimniok 0:a6a169de725f 68 * @param zacc Z acceleration (raw)
shimniok 0:a6a169de725f 69 * @param xgyro Angular speed around X axis (raw)
shimniok 0:a6a169de725f 70 * @param ygyro Angular speed around Y axis (raw)
shimniok 0:a6a169de725f 71 * @param zgyro Angular speed around Z axis (raw)
shimniok 0:a6a169de725f 72 * @param xmag X Magnetic field (raw)
shimniok 0:a6a169de725f 73 * @param ymag Y Magnetic field (raw)
shimniok 0:a6a169de725f 74 * @param zmag Z Magnetic field (raw)
shimniok 0:a6a169de725f 75 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:a6a169de725f 76 */
shimniok 0:a6a169de725f 77 static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
shimniok 0:a6a169de725f 78 {
shimniok 0:a6a169de725f 79 uint16_t i = 0;
shimniok 0:a6a169de725f 80 msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
shimniok 0:a6a169de725f 81
shimniok 0:a6a169de725f 82 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 83 i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (raw)
shimniok 0:a6a169de725f 84 i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (raw)
shimniok 0:a6a169de725f 85 i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (raw)
shimniok 0:a6a169de725f 86 i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (raw)
shimniok 0:a6a169de725f 87 i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (raw)
shimniok 0:a6a169de725f 88 i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (raw)
shimniok 0:a6a169de725f 89 i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (raw)
shimniok 0:a6a169de725f 90 i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (raw)
shimniok 0:a6a169de725f 91 i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (raw)
shimniok 0:a6a169de725f 92
shimniok 0:a6a169de725f 93 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:a6a169de725f 94 }
shimniok 0:a6a169de725f 95
shimniok 0:a6a169de725f 96 /**
shimniok 0:a6a169de725f 97 * @brief Encode a raw_imu struct into a message
shimniok 0:a6a169de725f 98 *
shimniok 0:a6a169de725f 99 * @param system_id ID of this system
shimniok 0:a6a169de725f 100 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:a6a169de725f 101 * @param msg The MAVLink message to compress the data into
shimniok 0:a6a169de725f 102 * @param raw_imu C-struct to read the message contents from
shimniok 0:a6a169de725f 103 */
shimniok 0:a6a169de725f 104 static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
shimniok 0:a6a169de725f 105 {
shimniok 0:a6a169de725f 106 return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
shimniok 0:a6a169de725f 107 }
shimniok 0:a6a169de725f 108
shimniok 0:a6a169de725f 109 /**
shimniok 0:a6a169de725f 110 * @brief Send a raw_imu message
shimniok 0:a6a169de725f 111 * @param chan MAVLink channel to send the message
shimniok 0:a6a169de725f 112 *
shimniok 0:a6a169de725f 113 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 114 * @param xacc X acceleration (raw)
shimniok 0:a6a169de725f 115 * @param yacc Y acceleration (raw)
shimniok 0:a6a169de725f 116 * @param zacc Z acceleration (raw)
shimniok 0:a6a169de725f 117 * @param xgyro Angular speed around X axis (raw)
shimniok 0:a6a169de725f 118 * @param ygyro Angular speed around Y axis (raw)
shimniok 0:a6a169de725f 119 * @param zgyro Angular speed around Z axis (raw)
shimniok 0:a6a169de725f 120 * @param xmag X Magnetic field (raw)
shimniok 0:a6a169de725f 121 * @param ymag Y Magnetic field (raw)
shimniok 0:a6a169de725f 122 * @param zmag Z Magnetic field (raw)
shimniok 0:a6a169de725f 123 */
shimniok 0:a6a169de725f 124 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:a6a169de725f 125
shimniok 0:a6a169de725f 126 static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
shimniok 0:a6a169de725f 127 {
shimniok 0:a6a169de725f 128 mavlink_message_t msg;
shimniok 0:a6a169de725f 129 mavlink_msg_raw_imu_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag);
shimniok 0:a6a169de725f 130 mavlink_send_uart(chan, &msg);
shimniok 0:a6a169de725f 131 }
shimniok 0:a6a169de725f 132
shimniok 0:a6a169de725f 133 #endif
shimniok 0:a6a169de725f 134 // MESSAGE RAW_IMU UNPACKING
shimniok 0:a6a169de725f 135
shimniok 0:a6a169de725f 136 /**
shimniok 0:a6a169de725f 137 * @brief Get field usec from raw_imu message
shimniok 0:a6a169de725f 138 *
shimniok 0:a6a169de725f 139 * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:a6a169de725f 140 */
shimniok 0:a6a169de725f 141 static inline uint64_t mavlink_msg_raw_imu_get_usec(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 142 {
shimniok 0:a6a169de725f 143 generic_64bit r;
shimniok 0:a6a169de725f 144 r.b[7] = (msg->payload)[0];
shimniok 0:a6a169de725f 145 r.b[6] = (msg->payload)[1];
shimniok 0:a6a169de725f 146 r.b[5] = (msg->payload)[2];
shimniok 0:a6a169de725f 147 r.b[4] = (msg->payload)[3];
shimniok 0:a6a169de725f 148 r.b[3] = (msg->payload)[4];
shimniok 0:a6a169de725f 149 r.b[2] = (msg->payload)[5];
shimniok 0:a6a169de725f 150 r.b[1] = (msg->payload)[6];
shimniok 0:a6a169de725f 151 r.b[0] = (msg->payload)[7];
shimniok 0:a6a169de725f 152 return (uint64_t)r.ll;
shimniok 0:a6a169de725f 153 }
shimniok 0:a6a169de725f 154
shimniok 0:a6a169de725f 155 /**
shimniok 0:a6a169de725f 156 * @brief Get field xacc from raw_imu message
shimniok 0:a6a169de725f 157 *
shimniok 0:a6a169de725f 158 * @return X acceleration (raw)
shimniok 0:a6a169de725f 159 */
shimniok 0:a6a169de725f 160 static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 161 {
shimniok 0:a6a169de725f 162 generic_16bit r;
shimniok 0:a6a169de725f 163 r.b[1] = (msg->payload+sizeof(uint64_t))[0];
shimniok 0:a6a169de725f 164 r.b[0] = (msg->payload+sizeof(uint64_t))[1];
shimniok 0:a6a169de725f 165 return (int16_t)r.s;
shimniok 0:a6a169de725f 166 }
shimniok 0:a6a169de725f 167
shimniok 0:a6a169de725f 168 /**
shimniok 0:a6a169de725f 169 * @brief Get field yacc from raw_imu message
shimniok 0:a6a169de725f 170 *
shimniok 0:a6a169de725f 171 * @return Y acceleration (raw)
shimniok 0:a6a169de725f 172 */
shimniok 0:a6a169de725f 173 static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 174 {
shimniok 0:a6a169de725f 175 generic_16bit r;
shimniok 0:a6a169de725f 176 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 177 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 178 return (int16_t)r.s;
shimniok 0:a6a169de725f 179 }
shimniok 0:a6a169de725f 180
shimniok 0:a6a169de725f 181 /**
shimniok 0:a6a169de725f 182 * @brief Get field zacc from raw_imu message
shimniok 0:a6a169de725f 183 *
shimniok 0:a6a169de725f 184 * @return Z acceleration (raw)
shimniok 0:a6a169de725f 185 */
shimniok 0:a6a169de725f 186 static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 187 {
shimniok 0:a6a169de725f 188 generic_16bit r;
shimniok 0:a6a169de725f 189 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 190 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 191 return (int16_t)r.s;
shimniok 0:a6a169de725f 192 }
shimniok 0:a6a169de725f 193
shimniok 0:a6a169de725f 194 /**
shimniok 0:a6a169de725f 195 * @brief Get field xgyro from raw_imu message
shimniok 0:a6a169de725f 196 *
shimniok 0:a6a169de725f 197 * @return Angular speed around X axis (raw)
shimniok 0:a6a169de725f 198 */
shimniok 0:a6a169de725f 199 static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 200 {
shimniok 0:a6a169de725f 201 generic_16bit r;
shimniok 0:a6a169de725f 202 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 203 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 204 return (int16_t)r.s;
shimniok 0:a6a169de725f 205 }
shimniok 0:a6a169de725f 206
shimniok 0:a6a169de725f 207 /**
shimniok 0:a6a169de725f 208 * @brief Get field ygyro from raw_imu message
shimniok 0:a6a169de725f 209 *
shimniok 0:a6a169de725f 210 * @return Angular speed around Y axis (raw)
shimniok 0:a6a169de725f 211 */
shimniok 0:a6a169de725f 212 static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 213 {
shimniok 0:a6a169de725f 214 generic_16bit r;
shimniok 0:a6a169de725f 215 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 216 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 217 return (int16_t)r.s;
shimniok 0:a6a169de725f 218 }
shimniok 0:a6a169de725f 219
shimniok 0:a6a169de725f 220 /**
shimniok 0:a6a169de725f 221 * @brief Get field zgyro from raw_imu message
shimniok 0:a6a169de725f 222 *
shimniok 0:a6a169de725f 223 * @return Angular speed around Z axis (raw)
shimniok 0:a6a169de725f 224 */
shimniok 0:a6a169de725f 225 static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 226 {
shimniok 0:a6a169de725f 227 generic_16bit r;
shimniok 0:a6a169de725f 228 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 229 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 230 return (int16_t)r.s;
shimniok 0:a6a169de725f 231 }
shimniok 0:a6a169de725f 232
shimniok 0:a6a169de725f 233 /**
shimniok 0:a6a169de725f 234 * @brief Get field xmag from raw_imu message
shimniok 0:a6a169de725f 235 *
shimniok 0:a6a169de725f 236 * @return X Magnetic field (raw)
shimniok 0:a6a169de725f 237 */
shimniok 0:a6a169de725f 238 static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 239 {
shimniok 0:a6a169de725f 240 generic_16bit r;
shimniok 0:a6a169de725f 241 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 242 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 243 return (int16_t)r.s;
shimniok 0:a6a169de725f 244 }
shimniok 0:a6a169de725f 245
shimniok 0:a6a169de725f 246 /**
shimniok 0:a6a169de725f 247 * @brief Get field ymag from raw_imu message
shimniok 0:a6a169de725f 248 *
shimniok 0:a6a169de725f 249 * @return Y Magnetic field (raw)
shimniok 0:a6a169de725f 250 */
shimniok 0:a6a169de725f 251 static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 252 {
shimniok 0:a6a169de725f 253 generic_16bit r;
shimniok 0:a6a169de725f 254 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 255 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 256 return (int16_t)r.s;
shimniok 0:a6a169de725f 257 }
shimniok 0:a6a169de725f 258
shimniok 0:a6a169de725f 259 /**
shimniok 0:a6a169de725f 260 * @brief Get field zmag from raw_imu message
shimniok 0:a6a169de725f 261 *
shimniok 0:a6a169de725f 262 * @return Z Magnetic field (raw)
shimniok 0:a6a169de725f 263 */
shimniok 0:a6a169de725f 264 static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
shimniok 0:a6a169de725f 265 {
shimniok 0:a6a169de725f 266 generic_16bit r;
shimniok 0:a6a169de725f 267 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:a6a169de725f 268 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:a6a169de725f 269 return (int16_t)r.s;
shimniok 0:a6a169de725f 270 }
shimniok 0:a6a169de725f 271
shimniok 0:a6a169de725f 272 /**
shimniok 0:a6a169de725f 273 * @brief Decode a raw_imu message into a struct
shimniok 0:a6a169de725f 274 *
shimniok 0:a6a169de725f 275 * @param msg The message to decode
shimniok 0:a6a169de725f 276 * @param raw_imu C-struct to decode the message contents into
shimniok 0:a6a169de725f 277 */
shimniok 0:a6a169de725f 278 static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu)
shimniok 0:a6a169de725f 279 {
shimniok 0:a6a169de725f 280 raw_imu->usec = mavlink_msg_raw_imu_get_usec(msg);
shimniok 0:a6a169de725f 281 raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg);
shimniok 0:a6a169de725f 282 raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg);
shimniok 0:a6a169de725f 283 raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg);
shimniok 0:a6a169de725f 284 raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg);
shimniok 0:a6a169de725f 285 raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg);
shimniok 0:a6a169de725f 286 raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg);
shimniok 0:a6a169de725f 287 raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg);
shimniok 0:a6a169de725f 288 raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg);
shimniok 0:a6a169de725f 289 raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg);
shimniok 0:a6a169de725f 290 }