3ae2186021
this new implementation reduces code size, and also reduces stack usage, while avoiding the gcc union stack bug Note that we will gain even more when we move to the new protocol version, especially in terms of code size git-svn-id: https://arducopter.googlecode.com/svn/trunk@3200 f9c3cf11-9bcb-44bc-f272-b75c42450872
475 lines
16 KiB
C
475 lines
16 KiB
C
// MESSAGE HIL_STATE PACKING
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#define MAVLINK_MSG_ID_HIL_STATE 67
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typedef struct __mavlink_hil_state_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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int32_t lat; ///< Latitude, expressed as * 1E7
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int32_t lon; ///< Longitude, expressed as * 1E7
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int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
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int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
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int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
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int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
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int16_t xacc; ///< X acceleration (mg)
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int16_t yacc; ///< Y acceleration (mg)
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int16_t zacc; ///< Z acceleration (mg)
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} mavlink_hil_state_t;
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#define MAVLINK_MSG_ID_HIL_STATE_LEN 56
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#define MAVLINK_MSG_ID_67_LEN 56
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#define MAVLINK_MESSAGE_INFO_HIL_STATE { \
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"HIL_STATE", \
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16, \
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{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, usec) }, \
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{ "roll", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
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{ "pitch", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
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{ "yaw", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
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{ "rollspeed", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
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{ "pitchspeed", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
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{ "yawspeed", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
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{ "lat", MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
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{ "lon", MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
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{ "alt", MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
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{ "vx", MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
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{ "vy", MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
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{ "vz", MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
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{ "xacc", MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
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{ "yacc", MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
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{ "zacc", MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
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} \
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}
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/**
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* @brief Pack a hil_state 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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* @param lat Latitude, expressed as * 1E7
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* @param lon Longitude, expressed as * 1E7
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* @param alt Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
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* @param xacc X acceleration (mg)
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* @param yacc Y acceleration (mg)
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* @param zacc Z acceleration (mg)
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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_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[56];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_float(buf, 8, roll);
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_mav_put_float(buf, 12, pitch);
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_mav_put_float(buf, 16, yaw);
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_mav_put_float(buf, 20, rollspeed);
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_mav_put_float(buf, 24, pitchspeed);
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_mav_put_float(buf, 28, yawspeed);
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_mav_put_int32_t(buf, 32, lat);
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_mav_put_int32_t(buf, 36, lon);
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_mav_put_int32_t(buf, 40, alt);
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_mav_put_int16_t(buf, 44, vx);
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_mav_put_int16_t(buf, 46, vy);
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_mav_put_int16_t(buf, 48, vz);
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_mav_put_int16_t(buf, 50, xacc);
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_mav_put_int16_t(buf, 52, yacc);
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_mav_put_int16_t(buf, 54, zacc);
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memcpy(_MAV_PAYLOAD(msg), buf, 56);
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#else
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mavlink_hil_state_t packet;
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packet.usec = usec;
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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.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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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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memcpy(_MAV_PAYLOAD(msg), &packet, 56);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
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return mavlink_finalize_message(msg, system_id, component_id, 56);
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}
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/**
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* @brief Pack a hil_state 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 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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* @param lat Latitude, expressed as * 1E7
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* @param lon Longitude, expressed as * 1E7
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* @param alt Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
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* @param xacc X acceleration (mg)
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* @param yacc Y acceleration (mg)
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* @param zacc Z acceleration (mg)
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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_hil_state_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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uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[56];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_float(buf, 8, roll);
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_mav_put_float(buf, 12, pitch);
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_mav_put_float(buf, 16, yaw);
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_mav_put_float(buf, 20, rollspeed);
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_mav_put_float(buf, 24, pitchspeed);
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_mav_put_float(buf, 28, yawspeed);
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_mav_put_int32_t(buf, 32, lat);
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_mav_put_int32_t(buf, 36, lon);
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_mav_put_int32_t(buf, 40, alt);
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_mav_put_int16_t(buf, 44, vx);
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_mav_put_int16_t(buf, 46, vy);
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_mav_put_int16_t(buf, 48, vz);
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_mav_put_int16_t(buf, 50, xacc);
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_mav_put_int16_t(buf, 52, yacc);
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_mav_put_int16_t(buf, 54, zacc);
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memcpy(_MAV_PAYLOAD(msg), buf, 56);
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#else
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mavlink_hil_state_t packet;
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packet.usec = usec;
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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.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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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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memcpy(_MAV_PAYLOAD(msg), &packet, 56);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56);
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}
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/**
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* @brief Encode a hil_state 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 hil_state C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
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{
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return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
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}
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/**
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* @brief Send a hil_state 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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* @param lat Latitude, expressed as * 1E7
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* @param lon Longitude, expressed as * 1E7
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* @param alt Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx Ground X Speed (Latitude), expressed as m/s * 100
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* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
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* @param xacc X acceleration (mg)
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* @param yacc Y acceleration (mg)
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* @param zacc Z acceleration (mg)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[56];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_float(buf, 8, roll);
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_mav_put_float(buf, 12, pitch);
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_mav_put_float(buf, 16, yaw);
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_mav_put_float(buf, 20, rollspeed);
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_mav_put_float(buf, 24, pitchspeed);
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_mav_put_float(buf, 28, yawspeed);
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_mav_put_int32_t(buf, 32, lat);
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_mav_put_int32_t(buf, 36, lon);
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_mav_put_int32_t(buf, 40, alt);
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_mav_put_int16_t(buf, 44, vx);
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_mav_put_int16_t(buf, 46, vy);
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_mav_put_int16_t(buf, 48, vz);
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_mav_put_int16_t(buf, 50, xacc);
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_mav_put_int16_t(buf, 52, yacc);
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_mav_put_int16_t(buf, 54, zacc);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56);
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#else
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mavlink_hil_state_t packet;
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packet.usec = usec;
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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.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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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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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56);
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#endif
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}
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#endif
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// MESSAGE HIL_STATE UNPACKING
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/**
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* @brief Get field usec from hil_state 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_hil_state_get_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field roll from hil_state 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_hil_state_get_roll(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 pitch from hil_state 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_hil_state_get_pitch(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 yaw from hil_state 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_hil_state_get_yaw(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 rollspeed from hil_state 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_hil_state_get_rollspeed(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 pitchspeed from hil_state 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_hil_state_get_pitchspeed(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 yawspeed from hil_state 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_hil_state_get_yawspeed(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 lat from hil_state message
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*
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* @return Latitude, expressed as * 1E7
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*/
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static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 32);
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}
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/**
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* @brief Get field lon from hil_state message
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*
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* @return Longitude, expressed as * 1E7
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*/
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static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 36);
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}
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/**
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* @brief Get field alt from hil_state message
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*
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* @return Altitude in meters, expressed as * 1000 (millimeters)
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*/
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static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 40);
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}
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/**
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* @brief Get field vx from hil_state message
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*
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* @return Ground X Speed (Latitude), expressed as m/s * 100
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*/
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static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 44);
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}
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/**
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* @brief Get field vy from hil_state message
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*
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* @return Ground Y Speed (Longitude), expressed as m/s * 100
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*/
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static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int16_t(msg, 46);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vz from hil_state message
|
|
*
|
|
* @return Ground Z Speed (Altitude), expressed as m/s * 100
|
|
*/
|
|
static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 48);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field xacc from hil_state message
|
|
*
|
|
* @return X acceleration (mg)
|
|
*/
|
|
static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 50);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field yacc from hil_state message
|
|
*
|
|
* @return Y acceleration (mg)
|
|
*/
|
|
static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 52);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field zacc from hil_state message
|
|
*
|
|
* @return Z acceleration (mg)
|
|
*/
|
|
static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 54);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a hil_state message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param hil_state C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
hil_state->usec = mavlink_msg_hil_state_get_usec(msg);
|
|
hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
|
|
hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
|
|
hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
|
|
hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
|
|
hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
|
|
hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
|
|
hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
|
|
hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
|
|
hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
|
|
hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
|
|
hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
|
|
hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
|
|
hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
|
|
hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
|
|
hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
|
|
#else
|
|
memcpy(hil_state, _MAV_PAYLOAD(msg), 56);
|
|
#endif
|
|
}
|