mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
277 lines
8.7 KiB
C
277 lines
8.7 KiB
C
// MESSAGE AHRS PACKING
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#define MAVLINK_MSG_ID_AHRS 163
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typedef struct __mavlink_ahrs_t
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{
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float omegaIx; ///< X gyro drift estimate rad/s
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float omegaIy; ///< Y gyro drift estimate rad/s
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float omegaIz; ///< Z gyro drift estimate rad/s
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float accel_weight; ///< average accel_weight
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float renorm_val; ///< average renormalisation value
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float error_rp; ///< average error_roll_pitch value
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float error_yaw; ///< average error_yaw value
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} mavlink_ahrs_t;
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#define MAVLINK_MSG_ID_AHRS_LEN 28
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#define MAVLINK_MSG_ID_163_LEN 28
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#define MAVLINK_MESSAGE_INFO_AHRS { \
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"AHRS", \
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7, \
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{ { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
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{ "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
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{ "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
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{ "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
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{ "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
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{ "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
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{ "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
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} \
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}
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/**
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* @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s
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* @param omegaIy Y gyro drift estimate rad/s
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* @param omegaIz Z gyro drift estimate rad/s
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* @param accel_weight average accel_weight
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* @param renorm_val average renormalisation value
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* @param error_rp average error_roll_pitch value
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* @param error_yaw average error_yaw value
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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_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[28];
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_mav_put_float(buf, 0, omegaIx);
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_mav_put_float(buf, 4, omegaIy);
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_mav_put_float(buf, 8, omegaIz);
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_mav_put_float(buf, 12, accel_weight);
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_mav_put_float(buf, 16, renorm_val);
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_mav_put_float(buf, 20, error_rp);
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_mav_put_float(buf, 24, error_yaw);
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memcpy(_MAV_PAYLOAD(msg), buf, 28);
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#else
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mavlink_ahrs_t packet;
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packet.omegaIx = omegaIx;
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packet.omegaIy = omegaIy;
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packet.omegaIz = omegaIz;
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packet.accel_weight = accel_weight;
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packet.renorm_val = renorm_val;
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packet.error_rp = error_rp;
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packet.error_yaw = error_yaw;
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memcpy(_MAV_PAYLOAD(msg), &packet, 28);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AHRS;
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return mavlink_finalize_message(msg, system_id, component_id, 28);
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}
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/**
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* @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s
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* @param omegaIy Y gyro drift estimate rad/s
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* @param omegaIz Z gyro drift estimate rad/s
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* @param accel_weight average accel_weight
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* @param renorm_val average renormalisation value
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* @param error_rp average error_roll_pitch value
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* @param error_yaw average error_yaw value
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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_ahrs_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 omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[28];
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_mav_put_float(buf, 0, omegaIx);
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_mav_put_float(buf, 4, omegaIy);
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_mav_put_float(buf, 8, omegaIz);
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_mav_put_float(buf, 12, accel_weight);
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_mav_put_float(buf, 16, renorm_val);
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_mav_put_float(buf, 20, error_rp);
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_mav_put_float(buf, 24, error_yaw);
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memcpy(_MAV_PAYLOAD(msg), buf, 28);
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#else
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mavlink_ahrs_t packet;
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packet.omegaIx = omegaIx;
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packet.omegaIy = omegaIy;
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packet.omegaIz = omegaIz;
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packet.accel_weight = accel_weight;
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packet.renorm_val = renorm_val;
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packet.error_rp = error_rp;
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packet.error_yaw = error_yaw;
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memcpy(_MAV_PAYLOAD(msg), &packet, 28);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AHRS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28);
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}
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/**
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* @brief Encode a ahrs 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 ahrs C-struct to read the message contents from
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*/
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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)
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{
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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);
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}
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/**
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* @brief Send a ahrs message
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* @param chan MAVLink channel to send the message
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*
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* @param omegaIx X gyro drift estimate rad/s
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* @param omegaIy Y gyro drift estimate rad/s
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* @param omegaIz Z gyro drift estimate rad/s
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* @param accel_weight average accel_weight
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* @param renorm_val average renormalisation value
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* @param error_rp average error_roll_pitch value
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* @param error_yaw average error_yaw value
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[28];
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_mav_put_float(buf, 0, omegaIx);
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_mav_put_float(buf, 4, omegaIy);
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_mav_put_float(buf, 8, omegaIz);
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_mav_put_float(buf, 12, accel_weight);
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_mav_put_float(buf, 16, renorm_val);
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_mav_put_float(buf, 20, error_rp);
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_mav_put_float(buf, 24, error_yaw);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, 28);
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#else
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mavlink_ahrs_t packet;
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packet.omegaIx = omegaIx;
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packet.omegaIy = omegaIy;
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packet.omegaIz = omegaIz;
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packet.accel_weight = accel_weight;
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packet.renorm_val = renorm_val;
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packet.error_rp = error_rp;
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packet.error_yaw = error_yaw;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, 28);
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#endif
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}
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#endif
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// MESSAGE AHRS UNPACKING
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/**
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* @brief Get field omegaIx from ahrs message
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*
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* @return X gyro drift estimate rad/s
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*/
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static inline float mavlink_msg_ahrs_get_omegaIx(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 omegaIy from ahrs message
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*
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* @return Y gyro drift estimate rad/s
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*/
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static inline float mavlink_msg_ahrs_get_omegaIy(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 omegaIz from ahrs message
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*
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* @return Z gyro drift estimate rad/s
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*/
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static inline float mavlink_msg_ahrs_get_omegaIz(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 accel_weight from ahrs message
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*
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* @return average accel_weight
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*/
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static inline float mavlink_msg_ahrs_get_accel_weight(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 renorm_val from ahrs message
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*
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* @return average renormalisation value
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*/
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static inline float mavlink_msg_ahrs_get_renorm_val(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 error_rp from ahrs message
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*
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* @return average error_roll_pitch value
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*/
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static inline float mavlink_msg_ahrs_get_error_rp(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 error_yaw from ahrs message
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*
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* @return average error_yaw value
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*/
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static inline float mavlink_msg_ahrs_get_error_yaw(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 Decode a ahrs message into a struct
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*
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* @param msg The message to decode
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* @param ahrs C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg);
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ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg);
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ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg);
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ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg);
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ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg);
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ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
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ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
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#else
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memcpy(ahrs, _MAV_PAYLOAD(msg), 28);
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#endif
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}
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