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| // MESSAGE AHRS PACKING |
| |
| #define MAVLINK_MSG_ID_AHRS 163 |
| |
| typedef struct __mavlink_ahrs_t |
| { |
| float omegaIx; ///< X gyro drift estimate rad/s |
| float omegaIy; ///< Y gyro drift estimate rad/s |
| float omegaIz; ///< Z gyro drift estimate rad/s |
| float accel_weight; ///< average accel_weight |
| float renorm_val; ///< average renormalisation value |
| float error_rp; ///< average error_roll_pitch value |
| float error_yaw; ///< average error_yaw value |
| } mavlink_ahrs_t; |
| |
| #define MAVLINK_MSG_ID_AHRS_LEN 28 |
| #define MAVLINK_MSG_ID_163_LEN 28 |
| |
| |
| |
| #define MAVLINK_MESSAGE_INFO_AHRS { \ |
| "AHRS", \ |
| 7, \ |
| { { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \ |
| { "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \ |
| { "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \ |
| { "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \ |
| { "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \ |
| { "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \ |
| { "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \ |
| } \ |
| } |
| |
| |
| /** |
| * @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s |
| * @param omegaIy Y gyro drift estimate rad/s |
| * @param omegaIz Z gyro drift estimate rad/s |
| * @param accel_weight average accel_weight |
| * @param renorm_val average renormalisation value |
| * @param error_rp average error_roll_pitch value |
| * @param error_yaw average error_yaw value |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
| float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[28]; |
| _mav_put_float(buf, 0, omegaIx); |
| _mav_put_float(buf, 4, omegaIy); |
| _mav_put_float(buf, 8, omegaIz); |
| _mav_put_float(buf, 12, accel_weight); |
| _mav_put_float(buf, 16, renorm_val); |
| _mav_put_float(buf, 20, error_rp); |
| _mav_put_float(buf, 24, error_yaw); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); |
| #else |
| mavlink_ahrs_t packet; |
| packet.omegaIx = omegaIx; |
| packet.omegaIy = omegaIy; |
| packet.omegaIz = omegaIz; |
| packet.accel_weight = accel_weight; |
| packet.renorm_val = renorm_val; |
| packet.error_rp = error_rp; |
| packet.error_yaw = error_yaw; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_AHRS; |
| return mavlink_finalize_message(msg, system_id, component_id, 28); |
| } |
| |
| /** |
| * @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s |
| * @param omegaIy Y gyro drift estimate rad/s |
| * @param omegaIz Z gyro drift estimate rad/s |
| * @param accel_weight average accel_weight |
| * @param renorm_val average renormalisation value |
| * @param error_rp average error_roll_pitch value |
| * @param error_yaw average error_yaw value |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
| mavlink_message_t* msg, |
| float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[28]; |
| _mav_put_float(buf, 0, omegaIx); |
| _mav_put_float(buf, 4, omegaIy); |
| _mav_put_float(buf, 8, omegaIz); |
| _mav_put_float(buf, 12, accel_weight); |
| _mav_put_float(buf, 16, renorm_val); |
| _mav_put_float(buf, 20, error_rp); |
| _mav_put_float(buf, 24, error_yaw); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); |
| #else |
| mavlink_ahrs_t packet; |
| packet.omegaIx = omegaIx; |
| packet.omegaIy = omegaIy; |
| packet.omegaIz = omegaIz; |
| packet.accel_weight = accel_weight; |
| packet.renorm_val = renorm_val; |
| packet.error_rp = error_rp; |
| packet.error_yaw = error_yaw; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_AHRS; |
| return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28); |
| } |
| |
| /** |
| * @brief Encode a ahrs 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 ahrs C-struct to read the message contents from |
| */ |
| static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs) |
| { |
| return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw); |
| } |
| |
| /** |
| * @brief Send a ahrs message |
| * @param chan MAVLink channel to send the message |
| * |
| * @param omegaIx X gyro drift estimate rad/s |
| * @param omegaIy Y gyro drift estimate rad/s |
| * @param omegaIz Z gyro drift estimate rad/s |
| * @param accel_weight average accel_weight |
| * @param renorm_val average renormalisation value |
| * @param error_rp average error_roll_pitch value |
| * @param error_yaw average error_yaw value |
| */ |
| #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
| |
| static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[28]; |
| _mav_put_float(buf, 0, omegaIx); |
| _mav_put_float(buf, 4, omegaIy); |
| _mav_put_float(buf, 8, omegaIz); |
| _mav_put_float(buf, 12, accel_weight); |
| _mav_put_float(buf, 16, renorm_val); |
| _mav_put_float(buf, 20, error_rp); |
| _mav_put_float(buf, 24, error_yaw); |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, 28); |
| #else |
| mavlink_ahrs_t packet; |
| packet.omegaIx = omegaIx; |
| packet.omegaIy = omegaIy; |
| packet.omegaIz = omegaIz; |
| packet.accel_weight = accel_weight; |
| packet.renorm_val = renorm_val; |
| packet.error_rp = error_rp; |
| packet.error_yaw = error_yaw; |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, 28); |
| #endif |
| } |
| |
| #endif |
| |
| // MESSAGE AHRS UNPACKING |
| |
| |
| /** |
| * @brief Get field omegaIx from ahrs message |
| * |
| * @return X gyro drift estimate rad/s |
| */ |
| static inline float mavlink_msg_ahrs_get_omegaIx(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 0); |
| } |
| |
| /** |
| * @brief Get field omegaIy from ahrs message |
| * |
| * @return Y gyro drift estimate rad/s |
| */ |
| static inline float mavlink_msg_ahrs_get_omegaIy(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 4); |
| } |
| |
| /** |
| * @brief Get field omegaIz from ahrs message |
| * |
| * @return Z gyro drift estimate rad/s |
| */ |
| static inline float mavlink_msg_ahrs_get_omegaIz(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 8); |
| } |
| |
| /** |
| * @brief Get field accel_weight from ahrs message |
| * |
| * @return average accel_weight |
| */ |
| static inline float mavlink_msg_ahrs_get_accel_weight(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 12); |
| } |
| |
| /** |
| * @brief Get field renorm_val from ahrs message |
| * |
| * @return average renormalisation value |
| */ |
| static inline float mavlink_msg_ahrs_get_renorm_val(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 16); |
| } |
| |
| /** |
| * @brief Get field error_rp from ahrs message |
| * |
| * @return average error_roll_pitch value |
| */ |
| static inline float mavlink_msg_ahrs_get_error_rp(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 20); |
| } |
| |
| /** |
| * @brief Get field error_yaw from ahrs message |
| * |
| * @return average error_yaw value |
| */ |
| static inline float mavlink_msg_ahrs_get_error_yaw(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 24); |
| } |
| |
| /** |
| * @brief Decode a ahrs message into a struct |
| * |
| * @param msg The message to decode |
| * @param ahrs C-struct to decode the message contents into |
| */ |
| static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP |
| ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg); |
| ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg); |
| ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg); |
| ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg); |
| ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg); |
| ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg); |
| ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg); |
| #else |
| memcpy(ahrs, _MAV_PAYLOAD(msg), 28); |
| #endif |
| } |