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GCS_MAVLink: new ekf header

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Andrew Tridgell 2013-12-30 16:32:21 +11:00
parent 163cfd839d
commit 68283b7aa1
1 changed files with 287 additions and 0 deletions
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287
libraries/GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ekf.h Normal file
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// 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
}