0,0 → 1,320 |
// MESSAGE SIMSTATE PACKING |
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#define MAVLINK_MSG_ID_SIMSTATE 164 |
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typedef struct __mavlink_simstate_t |
{ |
float roll; ///< Roll angle (rad) |
float pitch; ///< Pitch angle (rad) |
float yaw; ///< Yaw angle (rad) |
float xacc; ///< X acceleration m/s/s |
float yacc; ///< Y acceleration m/s/s |
float zacc; ///< Z acceleration m/s/s |
float xgyro; ///< Angular speed around X axis rad/s |
float ygyro; ///< Angular speed around Y axis rad/s |
float zgyro; ///< Angular speed around Z axis rad/s |
} mavlink_simstate_t; |
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#define MAVLINK_MSG_ID_SIMSTATE_LEN 36 |
#define MAVLINK_MSG_ID_164_LEN 36 |
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#define MAVLINK_MESSAGE_INFO_SIMSTATE { \ |
"SIMSTATE", \ |
9, \ |
{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \ |
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \ |
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \ |
{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \ |
{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \ |
{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \ |
{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \ |
{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \ |
{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \ |
} \ |
} |
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/** |
* @brief Pack a simstate message |
* @param system_id ID of this system |
* @param component_id ID of this component (e.g. 200 for IMU) |
* @param msg The MAVLink message to compress the data into |
* |
* @param roll Roll angle (rad) |
* @param pitch Pitch angle (rad) |
* @param yaw Yaw angle (rad) |
* @param xacc X acceleration m/s/s |
* @param yacc Y acceleration m/s/s |
* @param zacc Z acceleration m/s/s |
* @param xgyro Angular speed around X axis rad/s |
* @param ygyro Angular speed around Y axis rad/s |
* @param zgyro Angular speed around Z axis rad/s |
* @return length of the message in bytes (excluding serial stream start sign) |
*/ |
static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[36]; |
_mav_put_float(buf, 0, roll); |
_mav_put_float(buf, 4, pitch); |
_mav_put_float(buf, 8, yaw); |
_mav_put_float(buf, 12, xacc); |
_mav_put_float(buf, 16, yacc); |
_mav_put_float(buf, 20, zacc); |
_mav_put_float(buf, 24, xgyro); |
_mav_put_float(buf, 28, ygyro); |
_mav_put_float(buf, 32, zgyro); |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); |
#else |
mavlink_simstate_t packet; |
packet.roll = roll; |
packet.pitch = pitch; |
packet.yaw = yaw; |
packet.xacc = xacc; |
packet.yacc = yacc; |
packet.zacc = zacc; |
packet.xgyro = xgyro; |
packet.ygyro = ygyro; |
packet.zgyro = zgyro; |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); |
#endif |
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msg->msgid = MAVLINK_MSG_ID_SIMSTATE; |
return mavlink_finalize_message(msg, system_id, component_id, 36, 42); |
} |
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/** |
* @brief Pack a simstate message on a channel |
* @param system_id ID of this system |
* @param component_id ID of this component (e.g. 200 for IMU) |
* @param chan The MAVLink channel this message was sent over |
* @param msg The MAVLink message to compress the data into |
* @param roll Roll angle (rad) |
* @param pitch Pitch angle (rad) |
* @param yaw Yaw angle (rad) |
* @param xacc X acceleration m/s/s |
* @param yacc Y acceleration m/s/s |
* @param zacc Z acceleration m/s/s |
* @param xgyro Angular speed around X axis rad/s |
* @param ygyro Angular speed around Y axis rad/s |
* @param zgyro Angular speed around Z axis rad/s |
* @return length of the message in bytes (excluding serial stream start sign) |
*/ |
static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
mavlink_message_t* msg, |
float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[36]; |
_mav_put_float(buf, 0, roll); |
_mav_put_float(buf, 4, pitch); |
_mav_put_float(buf, 8, yaw); |
_mav_put_float(buf, 12, xacc); |
_mav_put_float(buf, 16, yacc); |
_mav_put_float(buf, 20, zacc); |
_mav_put_float(buf, 24, xgyro); |
_mav_put_float(buf, 28, ygyro); |
_mav_put_float(buf, 32, zgyro); |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); |
#else |
mavlink_simstate_t packet; |
packet.roll = roll; |
packet.pitch = pitch; |
packet.yaw = yaw; |
packet.xacc = xacc; |
packet.yacc = yacc; |
packet.zacc = zacc; |
packet.xgyro = xgyro; |
packet.ygyro = ygyro; |
packet.zgyro = zgyro; |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); |
#endif |
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msg->msgid = MAVLINK_MSG_ID_SIMSTATE; |
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 42); |
} |
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/** |
* @brief Encode a simstate struct into a message |
* |
* @param system_id ID of this system |
* @param component_id ID of this component (e.g. 200 for IMU) |
* @param msg The MAVLink message to compress the data into |
* @param simstate C-struct to read the message contents from |
*/ |
static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_simstate_t* simstate) |
{ |
return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro); |
} |
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/** |
* @brief Send a simstate message |
* @param chan MAVLink channel to send the message |
* |
* @param roll Roll angle (rad) |
* @param pitch Pitch angle (rad) |
* @param yaw Yaw angle (rad) |
* @param xacc X acceleration m/s/s |
* @param yacc Y acceleration m/s/s |
* @param zacc Z acceleration m/s/s |
* @param xgyro Angular speed around X axis rad/s |
* @param ygyro Angular speed around Y axis rad/s |
* @param zgyro Angular speed around Z axis rad/s |
*/ |
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[36]; |
_mav_put_float(buf, 0, roll); |
_mav_put_float(buf, 4, pitch); |
_mav_put_float(buf, 8, yaw); |
_mav_put_float(buf, 12, xacc); |
_mav_put_float(buf, 16, yacc); |
_mav_put_float(buf, 20, zacc); |
_mav_put_float(buf, 24, xgyro); |
_mav_put_float(buf, 28, ygyro); |
_mav_put_float(buf, 32, zgyro); |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, 36, 42); |
#else |
mavlink_simstate_t packet; |
packet.roll = roll; |
packet.pitch = pitch; |
packet.yaw = yaw; |
packet.xacc = xacc; |
packet.yacc = yacc; |
packet.zacc = zacc; |
packet.xgyro = xgyro; |
packet.ygyro = ygyro; |
packet.zgyro = zgyro; |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, 36, 42); |
#endif |
} |
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#endif |
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// MESSAGE SIMSTATE UNPACKING |
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/** |
* @brief Get field roll from simstate message |
* |
* @return Roll angle (rad) |
*/ |
static inline float mavlink_msg_simstate_get_roll(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 0); |
} |
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/** |
* @brief Get field pitch from simstate message |
* |
* @return Pitch angle (rad) |
*/ |
static inline float mavlink_msg_simstate_get_pitch(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 4); |
} |
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/** |
* @brief Get field yaw from simstate message |
* |
* @return Yaw angle (rad) |
*/ |
static inline float mavlink_msg_simstate_get_yaw(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 8); |
} |
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/** |
* @brief Get field xacc from simstate message |
* |
* @return X acceleration m/s/s |
*/ |
static inline float mavlink_msg_simstate_get_xacc(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 12); |
} |
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/** |
* @brief Get field yacc from simstate message |
* |
* @return Y acceleration m/s/s |
*/ |
static inline float mavlink_msg_simstate_get_yacc(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 16); |
} |
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/** |
* @brief Get field zacc from simstate message |
* |
* @return Z acceleration m/s/s |
*/ |
static inline float mavlink_msg_simstate_get_zacc(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 20); |
} |
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/** |
* @brief Get field xgyro from simstate message |
* |
* @return Angular speed around X axis rad/s |
*/ |
static inline float mavlink_msg_simstate_get_xgyro(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 24); |
} |
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/** |
* @brief Get field ygyro from simstate message |
* |
* @return Angular speed around Y axis rad/s |
*/ |
static inline float mavlink_msg_simstate_get_ygyro(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 28); |
} |
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/** |
* @brief Get field zgyro from simstate message |
* |
* @return Angular speed around Z axis rad/s |
*/ |
static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 32); |
} |
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/** |
* @brief Decode a simstate message into a struct |
* |
* @param msg The message to decode |
* @param simstate C-struct to decode the message contents into |
*/ |
static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mavlink_simstate_t* simstate) |
{ |
#if MAVLINK_NEED_BYTE_SWAP |
simstate->roll = mavlink_msg_simstate_get_roll(msg); |
simstate->pitch = mavlink_msg_simstate_get_pitch(msg); |
simstate->yaw = mavlink_msg_simstate_get_yaw(msg); |
simstate->xacc = mavlink_msg_simstate_get_xacc(msg); |
simstate->yacc = mavlink_msg_simstate_get_yacc(msg); |
simstate->zacc = mavlink_msg_simstate_get_zacc(msg); |
simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg); |
simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg); |
simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg); |
#else |
memcpy(simstate, _MAV_PAYLOAD(msg), 36); |
#endif |
} |