mirror of https://github.com/ArduPilot/ardupilot
199 lines
7.5 KiB
C
199 lines
7.5 KiB
C
// MESSAGE ATTITUDE PACKING
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#define MAVLINK_MSG_ID_ATTITUDE 30
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typedef struct __mavlink_attitude_t
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{
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uint64_t usec; ///< Timestamp (microseconds)
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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 rollspeed; ///< Roll angular speed (rad/s)
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float pitchspeed; ///< Pitch angular speed (rad/s)
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float yawspeed; ///< Yaw angular speed (rad/s)
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} mavlink_attitude_t;
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/**
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* @brief Send a attitude message
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*
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* @param usec Timestamp (microseconds)
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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 rollspeed Roll angular speed (rad/s)
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* @param pitchspeed Pitch angular speed (rad/s)
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* @param yawspeed Yaw angular speed (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_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
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i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (microseconds)
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i += put_float_by_index(roll, i, msg->payload); //Roll angle (rad)
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i += put_float_by_index(pitch, i, msg->payload); //Pitch angle (rad)
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i += put_float_by_index(yaw, i, msg->payload); //Yaw angle (rad)
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i += put_float_by_index(rollspeed, i, msg->payload); //Roll angular speed (rad/s)
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i += put_float_by_index(pitchspeed, i, msg->payload); //Pitch angular speed (rad/s)
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i += put_float_by_index(yawspeed, i, msg->payload); //Yaw angular speed (rad/s)
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return mavlink_finalize_message(msg, system_id, component_id, i);
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}
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static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
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i += put_uint64_t_by_index(usec, i, msg->payload); //Timestamp (microseconds)
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i += put_float_by_index(roll, i, msg->payload); //Roll angle (rad)
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i += put_float_by_index(pitch, i, msg->payload); //Pitch angle (rad)
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i += put_float_by_index(yaw, i, msg->payload); //Yaw angle (rad)
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i += put_float_by_index(rollspeed, i, msg->payload); //Roll angular speed (rad/s)
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i += put_float_by_index(pitchspeed, i, msg->payload); //Pitch angular speed (rad/s)
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i += put_float_by_index(yawspeed, i, msg->payload); //Yaw angular speed (rad/s)
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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}
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static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
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{
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return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->usec, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
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{
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mavlink_message_t msg;
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mavlink_msg_attitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE ATTITUDE UNPACKING
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/**
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* @brief Get field usec from attitude message
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*
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* @return Timestamp (microseconds)
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*/
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static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* msg)
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{
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generic_64bit r;
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r.b[7] = (msg->payload)[0];
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r.b[6] = (msg->payload)[1];
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r.b[5] = (msg->payload)[2];
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r.b[4] = (msg->payload)[3];
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r.b[3] = (msg->payload)[4];
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r.b[2] = (msg->payload)[5];
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r.b[1] = (msg->payload)[6];
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r.b[0] = (msg->payload)[7];
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return (uint64_t)r.ll;
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}
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/**
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* @brief Get field roll from attitude 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_attitude_get_roll(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field pitch from attitude 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_attitude_get_pitch(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field yaw from attitude 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_attitude_get_yaw(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field rollspeed from attitude message
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*
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* @return Roll angular speed (rad/s)
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*/
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static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field pitchspeed from attitude message
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*
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* @return Pitch angular speed (rad/s)
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*/
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static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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}
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/**
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* @brief Get field yawspeed from attitude message
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*
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* @return Yaw angular speed (rad/s)
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*/
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static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
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{
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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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}
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static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
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{
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attitude->usec = mavlink_msg_attitude_get_usec(msg);
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attitude->roll = mavlink_msg_attitude_get_roll(msg);
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attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
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attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
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attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
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attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
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attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
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}
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