mirror of https://github.com/ArduPilot/ardupilot
321 lines
9.6 KiB
C
321 lines
9.6 KiB
C
// MESSAGE SIMSTATE PACKING
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#define MAVLINK_MSG_ID_SIMSTATE 164
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typedef struct __mavlink_simstate_t
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{
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float roll; ///< Roll angle (rad)
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float pitch; ///< Pitch angle (rad)
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float yaw; ///< Yaw angle (rad)
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float xacc; ///< X acceleration m/s/s
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float yacc; ///< Y acceleration m/s/s
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float zacc; ///< Z acceleration m/s/s
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float xgyro; ///< Angular speed around X axis rad/s
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float ygyro; ///< Angular speed around Y axis rad/s
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float zgyro; ///< Angular speed around Z axis rad/s
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} mavlink_simstate_t;
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#define MAVLINK_MSG_ID_SIMSTATE_LEN 36
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#define MAVLINK_MSG_ID_164_LEN 36
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#define MAVLINK_MESSAGE_INFO_SIMSTATE { \
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"SIMSTATE", \
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9, \
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{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \
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{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \
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{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \
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{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \
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{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
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{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
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{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
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} \
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}
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/**
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* @brief Pack a simstate message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param roll Roll angle (rad)
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* @param pitch Pitch angle (rad)
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* @param yaw Yaw angle (rad)
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* @param xacc X acceleration m/s/s
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* @param yacc Y acceleration m/s/s
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* @param zacc Z acceleration m/s/s
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* @param xgyro Angular speed around X axis rad/s
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* @param ygyro Angular speed around Y axis rad/s
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* @param zgyro Angular speed around Z axis rad/s
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[36];
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_mav_put_float(buf, 0, roll);
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_mav_put_float(buf, 4, pitch);
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_mav_put_float(buf, 8, yaw);
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_mav_put_float(buf, 12, xacc);
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_mav_put_float(buf, 16, yacc);
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_mav_put_float(buf, 20, zacc);
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_mav_put_float(buf, 24, xgyro);
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_mav_put_float(buf, 28, ygyro);
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_mav_put_float(buf, 32, zgyro);
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memcpy(_MAV_PAYLOAD(msg), buf, 36);
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#else
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mavlink_simstate_t packet;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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memcpy(_MAV_PAYLOAD(msg), &packet, 36);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
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return mavlink_finalize_message(msg, system_id, component_id, 36);
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}
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/**
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* @brief Pack a simstate message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param roll Roll angle (rad)
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* @param pitch Pitch angle (rad)
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* @param yaw Yaw angle (rad)
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* @param xacc X acceleration m/s/s
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* @param yacc Y acceleration m/s/s
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* @param zacc Z acceleration m/s/s
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* @param xgyro Angular speed around X axis rad/s
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* @param ygyro Angular speed around Y axis rad/s
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* @param zgyro Angular speed around Z axis rad/s
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[36];
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_mav_put_float(buf, 0, roll);
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_mav_put_float(buf, 4, pitch);
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_mav_put_float(buf, 8, yaw);
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_mav_put_float(buf, 12, xacc);
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_mav_put_float(buf, 16, yacc);
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_mav_put_float(buf, 20, zacc);
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_mav_put_float(buf, 24, xgyro);
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_mav_put_float(buf, 28, ygyro);
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_mav_put_float(buf, 32, zgyro);
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memcpy(_MAV_PAYLOAD(msg), buf, 36);
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#else
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mavlink_simstate_t packet;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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memcpy(_MAV_PAYLOAD(msg), &packet, 36);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36);
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}
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/**
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* @brief Encode a simstate struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param simstate C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
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{
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return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro);
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}
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/**
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* @brief Send a simstate message
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* @param chan MAVLink channel to send the message
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*
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* @param roll Roll angle (rad)
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* @param pitch Pitch angle (rad)
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* @param yaw Yaw angle (rad)
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* @param xacc X acceleration m/s/s
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* @param yacc Y acceleration m/s/s
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* @param zacc Z acceleration m/s/s
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* @param xgyro Angular speed around X axis rad/s
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* @param ygyro Angular speed around Y axis rad/s
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* @param zgyro Angular speed around Z axis rad/s
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[36];
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_mav_put_float(buf, 0, roll);
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_mav_put_float(buf, 4, pitch);
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_mav_put_float(buf, 8, yaw);
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_mav_put_float(buf, 12, xacc);
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_mav_put_float(buf, 16, yacc);
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_mav_put_float(buf, 20, zacc);
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_mav_put_float(buf, 24, xgyro);
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_mav_put_float(buf, 28, ygyro);
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_mav_put_float(buf, 32, zgyro);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, 36);
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#else
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mavlink_simstate_t packet;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, 36);
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#endif
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}
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#endif
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// MESSAGE SIMSTATE UNPACKING
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/**
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* @brief Get field roll from simstate message
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*
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* @return Roll angle (rad)
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*/
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static inline float mavlink_msg_simstate_get_roll(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field pitch from simstate message
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*
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* @return Pitch angle (rad)
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*/
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static inline float mavlink_msg_simstate_get_pitch(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field yaw from simstate message
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*
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* @return Yaw angle (rad)
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*/
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static inline float mavlink_msg_simstate_get_yaw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field xacc from simstate message
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*
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* @return X acceleration m/s/s
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*/
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static inline float mavlink_msg_simstate_get_xacc(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field yacc from simstate message
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*
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* @return Y acceleration m/s/s
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*/
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static inline float mavlink_msg_simstate_get_yacc(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field zacc from simstate message
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*
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* @return Z acceleration m/s/s
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*/
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static inline float mavlink_msg_simstate_get_zacc(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field xgyro from simstate message
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*
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* @return Angular speed around X axis rad/s
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*/
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static inline float mavlink_msg_simstate_get_xgyro(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Get field ygyro from simstate message
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*
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* @return Angular speed around Y axis rad/s
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*/
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static inline float mavlink_msg_simstate_get_ygyro(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 28);
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}
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/**
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* @brief Get field zgyro from simstate message
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*
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* @return Angular speed around Z axis rad/s
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*/
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static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 32);
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}
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/**
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* @brief Decode a simstate message into a struct
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*
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* @param msg The message to decode
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* @param simstate C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mavlink_simstate_t* simstate)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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simstate->roll = mavlink_msg_simstate_get_roll(msg);
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simstate->pitch = mavlink_msg_simstate_get_pitch(msg);
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simstate->yaw = mavlink_msg_simstate_get_yaw(msg);
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simstate->xacc = mavlink_msg_simstate_get_xacc(msg);
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simstate->yacc = mavlink_msg_simstate_get_yacc(msg);
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simstate->zacc = mavlink_msg_simstate_get_zacc(msg);
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simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg);
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simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg);
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simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg);
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#else
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memcpy(simstate, _MAV_PAYLOAD(msg), 36);
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#endif
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}
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