From aeb010b6e9149dfad5b5539d0dccb2a554133452 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 19 Mar 2012 17:35:04 +1100
Subject: [PATCH] AHRS: added AHRS specific MAVLink headers

---
 .../include/ardupilotmega/mavlink_msg_ahrs.h  | 276 ++++++++++++++++++
 .../ardupilotmega/mavlink_msg_ahrs.h          | 276 ++++++++++++++++++
 2 files changed, 552 insertions(+)
 create mode 100644 libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ahrs.h
 create mode 100644 libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_ahrs.h

diff --git a/libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ahrs.h b/libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ahrs.h
new file mode 100644
index 0000000000..c82afe2f23
--- /dev/null
+++ b/libraries/GCS_MAVLink/include/ardupilotmega/mavlink_msg_ahrs.h
@@ -0,0 +1,276 @@
+// MESSAGE AHRS PACKING
+
+#define MAVLINK_MSG_ID_AHRS 163
+
+typedef struct __mavlink_ahrs_t
+{
+ float omegaIx; ///< X gyro drift estimate rad/s
+ float omegaIy; ///< Y gyro drift estimate rad/s
+ float omegaIz; ///< Z gyro drift estimate rad/s
+ float accel_weight; ///< average accel_weight
+ float renorm_val; ///< average renormalisation value
+ float error_rp; ///< average error_roll_pitch value
+ float error_yaw; ///< average error_yaw value
+} mavlink_ahrs_t;
+
+#define MAVLINK_MSG_ID_AHRS_LEN 28
+#define MAVLINK_MSG_ID_163_LEN 28
+
+
+
+#define MAVLINK_MESSAGE_INFO_AHRS { \
+	"AHRS", \
+	7, \
+	{  { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
+         { "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
+         { "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
+         { "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
+         { "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
+         { "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
+         { "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, omegaIx);
+	_mav_put_float(buf, 4, omegaIy);
+	_mav_put_float(buf, 8, omegaIz);
+	_mav_put_float(buf, 12, accel_weight);
+	_mav_put_float(buf, 16, renorm_val);
+	_mav_put_float(buf, 20, error_rp);
+	_mav_put_float(buf, 24, error_yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 28);
+#else
+	mavlink_ahrs_t packet;
+	packet.omegaIx = omegaIx;
+	packet.omegaIy = omegaIy;
+	packet.omegaIz = omegaIz;
+	packet.accel_weight = accel_weight;
+	packet.renorm_val = renorm_val;
+	packet.error_rp = error_rp;
+	packet.error_yaw = error_yaw;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AHRS;
+	return mavlink_finalize_message(msg, system_id, component_id, 28);
+}
+
+/**
+ * @brief Pack a ahrs 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, omegaIx);
+	_mav_put_float(buf, 4, omegaIy);
+	_mav_put_float(buf, 8, omegaIz);
+	_mav_put_float(buf, 12, accel_weight);
+	_mav_put_float(buf, 16, renorm_val);
+	_mav_put_float(buf, 20, error_rp);
+	_mav_put_float(buf, 24, error_yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 28);
+#else
+	mavlink_ahrs_t packet;
+	packet.omegaIx = omegaIx;
+	packet.omegaIy = omegaIy;
+	packet.omegaIz = omegaIz;
+	packet.accel_weight = accel_weight;
+	packet.renorm_val = renorm_val;
+	packet.error_rp = error_rp;
+	packet.error_yaw = error_yaw;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AHRS;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28);
+}
+
+/**
+ * @brief Encode a ahrs struct into a 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 ahrs C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
+{
+	return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
+}
+
+/**
+ * @brief Send a ahrs message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, omegaIx);
+	_mav_put_float(buf, 4, omegaIy);
+	_mav_put_float(buf, 8, omegaIz);
+	_mav_put_float(buf, 12, accel_weight);
+	_mav_put_float(buf, 16, renorm_val);
+	_mav_put_float(buf, 20, error_rp);
+	_mav_put_float(buf, 24, error_yaw);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, 28);
+#else
+	mavlink_ahrs_t packet;
+	packet.omegaIx = omegaIx;
+	packet.omegaIy = omegaIy;
+	packet.omegaIz = omegaIz;
+	packet.accel_weight = accel_weight;
+	packet.renorm_val = renorm_val;
+	packet.error_rp = error_rp;
+	packet.error_yaw = error_yaw;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, 28);
+#endif
+}
+
+#endif
+
+// MESSAGE AHRS UNPACKING
+
+
+/**
+ * @brief Get field omegaIx from ahrs message
+ *
+ * @return X gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_ahrs_get_omegaIx(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field omegaIy from ahrs message
+ *
+ * @return Y gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_ahrs_get_omegaIy(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field omegaIz from ahrs message
+ *
+ * @return Z gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_ahrs_get_omegaIz(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field accel_weight from ahrs message
+ *
+ * @return average accel_weight
+ */
+static inline float mavlink_msg_ahrs_get_accel_weight(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field renorm_val from ahrs message
+ *
+ * @return average renormalisation value
+ */
+static inline float mavlink_msg_ahrs_get_renorm_val(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field error_rp from ahrs message
+ *
+ * @return average error_roll_pitch value
+ */
+static inline float mavlink_msg_ahrs_get_error_rp(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field error_yaw from ahrs message
+ *
+ * @return average error_yaw value
+ */
+static inline float mavlink_msg_ahrs_get_error_yaw(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Decode a ahrs message into a struct
+ *
+ * @param msg The message to decode
+ * @param ahrs C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg);
+	ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg);
+	ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg);
+	ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg);
+	ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg);
+	ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
+	ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
+#else
+	memcpy(ahrs, _MAV_PAYLOAD(msg), 28);
+#endif
+}
diff --git a/libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_ahrs.h b/libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_ahrs.h
new file mode 100644
index 0000000000..884f084ea7
--- /dev/null
+++ b/libraries/GCS_MAVLink/include_v1.0/ardupilotmega/mavlink_msg_ahrs.h
@@ -0,0 +1,276 @@
+// MESSAGE AHRS PACKING
+
+#define MAVLINK_MSG_ID_AHRS 163
+
+typedef struct __mavlink_ahrs_t
+{
+ float omegaIx; ///< X gyro drift estimate rad/s
+ float omegaIy; ///< Y gyro drift estimate rad/s
+ float omegaIz; ///< Z gyro drift estimate rad/s
+ float accel_weight; ///< average accel_weight
+ float renorm_val; ///< average renormalisation value
+ float error_rp; ///< average error_roll_pitch value
+ float error_yaw; ///< average error_yaw value
+} mavlink_ahrs_t;
+
+#define MAVLINK_MSG_ID_AHRS_LEN 28
+#define MAVLINK_MSG_ID_163_LEN 28
+
+
+
+#define MAVLINK_MESSAGE_INFO_AHRS { \
+	"AHRS", \
+	7, \
+	{  { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
+         { "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
+         { "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
+         { "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
+         { "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
+         { "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
+         { "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
+         } \
+}
+
+
+/**
+ * @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+						       float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, omegaIx);
+	_mav_put_float(buf, 4, omegaIy);
+	_mav_put_float(buf, 8, omegaIz);
+	_mav_put_float(buf, 12, accel_weight);
+	_mav_put_float(buf, 16, renorm_val);
+	_mav_put_float(buf, 20, error_rp);
+	_mav_put_float(buf, 24, error_yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 28);
+#else
+	mavlink_ahrs_t packet;
+	packet.omegaIx = omegaIx;
+	packet.omegaIy = omegaIy;
+	packet.omegaIz = omegaIz;
+	packet.accel_weight = accel_weight;
+	packet.renorm_val = renorm_val;
+	packet.error_rp = error_rp;
+	packet.error_yaw = error_yaw;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AHRS;
+	return mavlink_finalize_message(msg, system_id, component_id, 28, 127);
+}
+
+/**
+ * @brief Pack a ahrs 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 was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+							   mavlink_message_t* msg,
+						           float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, omegaIx);
+	_mav_put_float(buf, 4, omegaIy);
+	_mav_put_float(buf, 8, omegaIz);
+	_mav_put_float(buf, 12, accel_weight);
+	_mav_put_float(buf, 16, renorm_val);
+	_mav_put_float(buf, 20, error_rp);
+	_mav_put_float(buf, 24, error_yaw);
+
+        memcpy(_MAV_PAYLOAD(msg), buf, 28);
+#else
+	mavlink_ahrs_t packet;
+	packet.omegaIx = omegaIx;
+	packet.omegaIy = omegaIy;
+	packet.omegaIz = omegaIz;
+	packet.accel_weight = accel_weight;
+	packet.renorm_val = renorm_val;
+	packet.error_rp = error_rp;
+	packet.error_yaw = error_yaw;
+
+        memcpy(_MAV_PAYLOAD(msg), &packet, 28);
+#endif
+
+	msg->msgid = MAVLINK_MSG_ID_AHRS;
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 127);
+}
+
+/**
+ * @brief Encode a ahrs struct into a 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 ahrs C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
+{
+	return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
+}
+
+/**
+ * @brief Send a ahrs message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param omegaIx X gyro drift estimate rad/s
+ * @param omegaIy Y gyro drift estimate rad/s
+ * @param omegaIz Z gyro drift estimate rad/s
+ * @param accel_weight average accel_weight
+ * @param renorm_val average renormalisation value
+ * @param error_rp average error_roll_pitch value
+ * @param error_yaw average error_yaw value
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+	char buf[28];
+	_mav_put_float(buf, 0, omegaIx);
+	_mav_put_float(buf, 4, omegaIy);
+	_mav_put_float(buf, 8, omegaIz);
+	_mav_put_float(buf, 12, accel_weight);
+	_mav_put_float(buf, 16, renorm_val);
+	_mav_put_float(buf, 20, error_rp);
+	_mav_put_float(buf, 24, error_yaw);
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, 28, 127);
+#else
+	mavlink_ahrs_t packet;
+	packet.omegaIx = omegaIx;
+	packet.omegaIy = omegaIy;
+	packet.omegaIz = omegaIz;
+	packet.accel_weight = accel_weight;
+	packet.renorm_val = renorm_val;
+	packet.error_rp = error_rp;
+	packet.error_yaw = error_yaw;
+
+	_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, 28, 127);
+#endif
+}
+
+#endif
+
+// MESSAGE AHRS UNPACKING
+
+
+/**
+ * @brief Get field omegaIx from ahrs message
+ *
+ * @return X gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_ahrs_get_omegaIx(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  0);
+}
+
+/**
+ * @brief Get field omegaIy from ahrs message
+ *
+ * @return Y gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_ahrs_get_omegaIy(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  4);
+}
+
+/**
+ * @brief Get field omegaIz from ahrs message
+ *
+ * @return Z gyro drift estimate rad/s
+ */
+static inline float mavlink_msg_ahrs_get_omegaIz(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  8);
+}
+
+/**
+ * @brief Get field accel_weight from ahrs message
+ *
+ * @return average accel_weight
+ */
+static inline float mavlink_msg_ahrs_get_accel_weight(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  12);
+}
+
+/**
+ * @brief Get field renorm_val from ahrs message
+ *
+ * @return average renormalisation value
+ */
+static inline float mavlink_msg_ahrs_get_renorm_val(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  16);
+}
+
+/**
+ * @brief Get field error_rp from ahrs message
+ *
+ * @return average error_roll_pitch value
+ */
+static inline float mavlink_msg_ahrs_get_error_rp(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  20);
+}
+
+/**
+ * @brief Get field error_yaw from ahrs message
+ *
+ * @return average error_yaw value
+ */
+static inline float mavlink_msg_ahrs_get_error_yaw(const mavlink_message_t* msg)
+{
+	return _MAV_RETURN_float(msg,  24);
+}
+
+/**
+ * @brief Decode a ahrs message into a struct
+ *
+ * @param msg The message to decode
+ * @param ahrs C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+	ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg);
+	ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg);
+	ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg);
+	ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg);
+	ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg);
+	ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
+	ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
+#else
+	memcpy(ahrs, _MAV_PAYLOAD(msg), 28);
+#endif
+}