diff --git a/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ekf.h b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ekf.h new file mode 100644 index 0000000000..d3988406ea --- /dev/null +++ b/libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ekf.h @@ -0,0 +1,287 @@ +// MESSAGE EKF PACKING + +#define MAVLINK_MSG_ID_EKF 178 + +typedef struct __mavlink_ekf_t +{ + float roll; ///< Roll angle (rad) + float pitch; ///< Pitch angle (rad) + float yaw; ///< Yaw angle (rad) + float altitude; ///< Altitude (MSL) + int32_t lat; ///< Latitude in degrees * 1E7 + int32_t lng; ///< Longitude in degrees * 1E7 +} mavlink_ekf_t; + +#define MAVLINK_MSG_ID_EKF_LEN 24 +#define MAVLINK_MSG_ID_178_LEN 24 + +#define MAVLINK_MSG_ID_EKF_CRC 194 +#define MAVLINK_MSG_ID_178_CRC 194 + + + +#define MAVLINK_MESSAGE_INFO_EKF { \ + "EKF", \ + 6, \ + { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ekf_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ekf_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ekf_t, yaw) }, \ + { "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ekf_t, altitude) }, \ + { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_ekf_t, lat) }, \ + { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_ekf_t, lng) }, \ + } \ +} + + +/** + * @brief Pack a ekf message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param roll Roll angle (rad) + * @param pitch Pitch angle (rad) + * @param yaw Yaw angle (rad) + * @param altitude Altitude (MSL) + * @param lat Latitude in degrees * 1E7 + * @param lng Longitude in degrees * 1E7 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ekf_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_EKF_LEN]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, altitude); + _mav_put_int32_t(buf, 16, lat); + _mav_put_int32_t(buf, 20, lng); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_LEN); +#else + mavlink_ekf_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.altitude = altitude; + packet.lat = lat; + packet.lng = lng; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_EKF; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_EKF_LEN, MAVLINK_MSG_ID_EKF_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_EKF_LEN); +#endif +} + +/** + * @brief Pack a ekf message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param roll Roll angle (rad) + * @param pitch Pitch angle (rad) + * @param yaw Yaw angle (rad) + * @param altitude Altitude (MSL) + * @param lat Latitude in degrees * 1E7 + * @param lng Longitude in degrees * 1E7 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_ekf_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float roll,float pitch,float yaw,float altitude,int32_t lat,int32_t lng) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_EKF_LEN]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, altitude); + _mav_put_int32_t(buf, 16, lat); + _mav_put_int32_t(buf, 20, lng); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_LEN); +#else + mavlink_ekf_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.altitude = altitude; + packet.lat = lat; + packet.lng = lng; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_EKF; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_EKF_LEN, MAVLINK_MSG_ID_EKF_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_EKF_LEN); +#endif +} + +/** + * @brief Encode a ekf struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param ekf C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ekf_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ekf_t* ekf) +{ + return mavlink_msg_ekf_pack(system_id, component_id, msg, ekf->roll, ekf->pitch, ekf->yaw, ekf->altitude, ekf->lat, ekf->lng); +} + +/** + * @brief Encode a ekf struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param ekf C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_ekf_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ekf_t* ekf) +{ + return mavlink_msg_ekf_pack_chan(system_id, component_id, chan, msg, ekf->roll, ekf->pitch, ekf->yaw, ekf->altitude, ekf->lat, ekf->lng); +} + +/** + * @brief Send a ekf message + * @param chan MAVLink channel to send the message + * + * @param roll Roll angle (rad) + * @param pitch Pitch angle (rad) + * @param yaw Yaw angle (rad) + * @param altitude Altitude (MSL) + * @param lat Latitude in degrees * 1E7 + * @param lng Longitude in degrees * 1E7 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_ekf_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_EKF_LEN]; + _mav_put_float(buf, 0, roll); + _mav_put_float(buf, 4, pitch); + _mav_put_float(buf, 8, yaw); + _mav_put_float(buf, 12, altitude); + _mav_put_int32_t(buf, 16, lat); + _mav_put_int32_t(buf, 20, lng); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF, buf, MAVLINK_MSG_ID_EKF_LEN, MAVLINK_MSG_ID_EKF_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF, buf, MAVLINK_MSG_ID_EKF_LEN); +#endif +#else + mavlink_ekf_t packet; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.altitude = altitude; + packet.lat = lat; + packet.lng = lng; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF, (const char *)&packet, MAVLINK_MSG_ID_EKF_LEN, MAVLINK_MSG_ID_EKF_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF, (const char *)&packet, MAVLINK_MSG_ID_EKF_LEN); +#endif +#endif +} + +#endif + +// MESSAGE EKF UNPACKING + + +/** + * @brief Get field roll from ekf message + * + * @return Roll angle (rad) + */ +static inline float mavlink_msg_ekf_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field pitch from ekf message + * + * @return Pitch angle (rad) + */ +static inline float mavlink_msg_ekf_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field yaw from ekf message + * + * @return Yaw angle (rad) + */ +static inline float mavlink_msg_ekf_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field altitude from ekf message + * + * @return Altitude (MSL) + */ +static inline float mavlink_msg_ekf_get_altitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field lat from ekf message + * + * @return Latitude in degrees * 1E7 + */ +static inline int32_t mavlink_msg_ekf_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 16); +} + +/** + * @brief Get field lng from ekf message + * + * @return Longitude in degrees * 1E7 + */ +static inline int32_t mavlink_msg_ekf_get_lng(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 20); +} + +/** + * @brief Decode a ekf message into a struct + * + * @param msg The message to decode + * @param ekf C-struct to decode the message contents into + */ +static inline void mavlink_msg_ekf_decode(const mavlink_message_t* msg, mavlink_ekf_t* ekf) +{ +#if MAVLINK_NEED_BYTE_SWAP + ekf->roll = mavlink_msg_ekf_get_roll(msg); + ekf->pitch = mavlink_msg_ekf_get_pitch(msg); + ekf->yaw = mavlink_msg_ekf_get_yaw(msg); + ekf->altitude = mavlink_msg_ekf_get_altitude(msg); + ekf->lat = mavlink_msg_ekf_get_lat(msg); + ekf->lng = mavlink_msg_ekf_get_lng(msg); +#else + memcpy(ekf, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_EKF_LEN); +#endif +}