269 lines
11 KiB
C
269 lines
11 KiB
C
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// MESSAGE ATTITUDE PACKING
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#define MAVLINK_MSG_ID_ATTITUDE_NEW 30
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#define MAVLINK_MSG_LENGTH_ATTITUDE_NEW 8+4+4+4+4+4+4
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#ifndef MAVLINK_DEACTIVATE_STRUCTS
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typedef struct __mavlink_attitude_new_t
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{
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uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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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_new_t;
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/**
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* @brief Pack a attitude_new 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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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_new_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 since UNIX epoch or microseconds since system boot)
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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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/**
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* @brief Pack a attitude_new 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 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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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_new_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 since UNIX epoch or microseconds since system boot)
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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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/**
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* @brief Encode a attitude_new 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 attitude_new C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_attitude_new_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_new_t* attitude_new)
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{
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return mavlink_msg_attitude_new_pack(system_id, component_id, msg, attitude_new->usec, attitude_new->roll, attitude_new->pitch, attitude_new->yaw, attitude_new->rollspeed, attitude_new->pitchspeed, attitude_new->yawspeed);
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}
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#endif
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/**
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* @brief Send a attitude_new message
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* @param chan MAVLink channel to send the message
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*
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* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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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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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_attitude_new_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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uint16_t checksum;
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comm_send_ch(chan, MAVLINK_STX);
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crc_init(&checksum);
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mavlink_send_uart_uint8_t(chan, MAVLINK_MSG_LENGTH_ATTITUDE_NEW, &checksum);
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mavlink_send_uart_uint8_t(chan, mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq, &checksum);
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// Increase sequence
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mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq = mavlink_get_channel_status(MAVLINK_COMM_0)->current_tx_seq+1;
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mavlink_send_uart_uint8_t(chan, mavlink_system.sysid, &checksum);
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mavlink_send_uart_uint8_t(chan, mavlink_system.compid, &checksum);
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mavlink_send_uart_uint8_t(chan, MAVLINK_MSG_ID_ATTITUDE_NEW, &checksum);
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mavlink_send_uart_uint64_t(chan, usec, &checksum);
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mavlink_send_uart_float(chan, roll, &checksum);
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mavlink_send_uart_float(chan, pitch, &checksum);
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mavlink_send_uart_float(chan, yaw, &checksum);
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mavlink_send_uart_float(chan, rollspeed, &checksum);
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mavlink_send_uart_float(chan, pitchspeed, &checksum);
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mavlink_send_uart_float(chan, yawspeed, &checksum);
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// Checksum complete, send it
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comm_send_ch(chan, (uint8_t)(checksum & 0xFF));
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comm_send_ch(chan, (uint8_t)(checksum >> 8));
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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_new message
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*
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* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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*/
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static inline uint64_t mavlink_msg_attitude_new_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_new 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_new_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_new 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_new_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_new 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_new_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_new 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_new_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_new 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_new_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_new 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_new_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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#ifndef MAVLINK_DEACTIVATE_STRUCTS
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/**
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* @brief Decode a attitude_new message into a struct
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*
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* @param msg The message to decode
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* @param attitude_new C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_attitude_new_decode(const mavlink_message_t* msg, mavlink_attitude_new_t* attitude_new)
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{
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attitude_new->usec = mavlink_msg_attitude_new_get_usec(msg);
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attitude_new->roll = mavlink_msg_attitude_new_get_roll(msg);
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attitude_new->pitch = mavlink_msg_attitude_new_get_pitch(msg);
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attitude_new->yaw = mavlink_msg_attitude_new_get_yaw(msg);
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attitude_new->rollspeed = mavlink_msg_attitude_new_get_rollspeed(msg);
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attitude_new->pitchspeed = mavlink_msg_attitude_new_get_pitchspeed(msg);
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attitude_new->yawspeed = mavlink_msg_attitude_new_get_yawspeed(msg);
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}
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#endif
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