a37d1ddb91
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1015 f9c3cf11-9bcb-44bc-f272-b75c42450872
139 lines
4.7 KiB
C
139 lines
4.7 KiB
C
// MESSAGE IMAGE_TRIGGERED PACKING
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#define MAVLINK_MSG_ID_IMAGE_TRIGGERED 101
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typedef struct __mavlink_image_triggered_t
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{
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uint64_t timestamp; ///< Timestamp
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uint32_t seq; ///< IMU seq
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float roll; ///< Roll angle in rad
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float pitch; ///< Pitch angle in rad
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} mavlink_image_triggered_t;
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/**
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* @brief Send a image_triggered message
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*
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* @param timestamp Timestamp
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* @param seq IMU seq
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* @param roll Roll angle in rad
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* @param pitch Pitch angle in rad
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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_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
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i += put_uint64_t_by_index(timestamp, i, msg->payload); //Timestamp
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i += put_uint32_t_by_index(seq, i, msg->payload); //IMU seq
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i += put_float_by_index(roll, i, msg->payload); //Roll angle in rad
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i += put_float_by_index(pitch, i, msg->payload); //Pitch angle in rad
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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_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
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i += put_uint64_t_by_index(timestamp, i, msg->payload); //Timestamp
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i += put_uint32_t_by_index(seq, i, msg->payload); //IMU seq
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i += put_float_by_index(roll, i, msg->payload); //Roll angle in rad
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i += put_float_by_index(pitch, i, msg->payload); //Pitch angle in rad
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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_image_triggered_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered)
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{
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return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch);
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}
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch)
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{
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mavlink_message_t msg;
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mavlink_msg_image_triggered_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, timestamp, seq, roll, pitch);
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mavlink_send_uart(chan, &msg);
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}
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#endif
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// MESSAGE IMAGE_TRIGGERED UNPACKING
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/**
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* @brief Get field timestamp from image_triggered message
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*
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* @return Timestamp
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*/
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static inline uint64_t mavlink_msg_image_triggered_get_timestamp(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 seq from image_triggered message
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*
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* @return IMU seq
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*/
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static inline uint32_t mavlink_msg_image_triggered_get_seq(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 (uint32_t)r.i;
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}
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/**
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* @brief Get field roll from image_triggered message
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*
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* @return Roll angle in rad
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*/
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static inline float mavlink_msg_image_triggered_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)+sizeof(uint32_t))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_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 image_triggered message
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*
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* @return Pitch angle in rad
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*/
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static inline float mavlink_msg_image_triggered_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(uint32_t)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[3];
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return (float)r.f;
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}
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static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* msg, mavlink_image_triggered_t* image_triggered)
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{
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image_triggered->timestamp = mavlink_msg_image_triggered_get_timestamp(msg);
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image_triggered->seq = mavlink_msg_image_triggered_get_seq(msg);
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image_triggered->roll = mavlink_msg_image_triggered_get_roll(msg);
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image_triggered->pitch = mavlink_msg_image_triggered_get_pitch(msg);
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}
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