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// MESSAGE RAW_IMU PACKING
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#define MAVLINK_MSG_ID_RAW_IMU 28
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typedef struct __mavlink_raw_imu_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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 int16_t xacc; ///< X acceleration (raw)
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 int16_t yacc; ///< Y acceleration (raw)
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 int16_t zacc; ///< Z acceleration (raw)
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 int16_t xgyro; ///< Angular speed around X axis (raw)
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 int16_t ygyro; ///< Angular speed around Y axis (raw)
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 int16_t zgyro; ///< Angular speed around Z axis (raw)
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 int16_t xmag; ///< X Magnetic field (raw)
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 int16_t ymag; ///< Y Magnetic field (raw)
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 int16_t zmag; ///< Z Magnetic field (raw)
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} mavlink_raw_imu_t;
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#define MAVLINK_MSG_ID_RAW_IMU_LEN 26
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#define MAVLINK_MSG_ID_28_LEN 26
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#define MAVLINK_MESSAGE_INFO_RAW_IMU { \
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        "RAW_IMU", \
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        10, \
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        {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, usec) }, \
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         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
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         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
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         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
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         { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
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         { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
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         { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
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         { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
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         { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
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         { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
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         } \
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}
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/**
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 * @brief Pack a raw_imu 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 xacc X acceleration (raw)
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 * @param yacc Y acceleration (raw)
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 * @param zacc Z acceleration (raw)
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 * @param xgyro Angular speed around X axis (raw)
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 * @param ygyro Angular speed around Y axis (raw)
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 * @param zgyro Angular speed around Z axis (raw)
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 * @param xmag X Magnetic field (raw)
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 * @param ymag Y Magnetic field (raw)
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 * @param zmag Z Magnetic field (raw)
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 * @return length of the message in bytes (excluding serial stream start sign)
58
 */
59
static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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                                                       uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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        char buf[26];
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        _mav_put_uint64_t(buf, 0, usec);
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        _mav_put_int16_t(buf, 8, xacc);
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        _mav_put_int16_t(buf, 10, yacc);
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        _mav_put_int16_t(buf, 12, zacc);
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        _mav_put_int16_t(buf, 14, xgyro);
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        _mav_put_int16_t(buf, 16, ygyro);
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        _mav_put_int16_t(buf, 18, zgyro);
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        _mav_put_int16_t(buf, 20, xmag);
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        _mav_put_int16_t(buf, 22, ymag);
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        _mav_put_int16_t(buf, 24, zmag);
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        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
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#else
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        mavlink_raw_imu_t packet;
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        packet.usec = usec;
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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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        packet.xgyro = xgyro;
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        packet.ygyro = ygyro;
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        packet.zgyro = zgyro;
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        packet.xmag = xmag;
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        packet.ymag = ymag;
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        packet.zmag = zmag;
88
 
89
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
90
#endif
91
 
92
        msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
93
        return mavlink_finalize_message(msg, system_id, component_id, 26);
94
}
95
 
96
/**
97
 * @brief Pack a raw_imu 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
101
 * @param msg The MAVLink message to compress the data into
102
 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
103
 * @param xacc X acceleration (raw)
104
 * @param yacc Y acceleration (raw)
105
 * @param zacc Z acceleration (raw)
106
 * @param xgyro Angular speed around X axis (raw)
107
 * @param ygyro Angular speed around Y axis (raw)
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 * @param zgyro Angular speed around Z axis (raw)
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 * @param xmag X Magnetic field (raw)
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 * @param ymag Y Magnetic field (raw)
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 * @param zmag Z Magnetic field (raw)
112
 * @return length of the message in bytes (excluding serial stream start sign)
113
 */
114
static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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                                                           mavlink_message_t* msg,
116
                                                           uint64_t usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
117
{
118
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
119
        char buf[26];
120
        _mav_put_uint64_t(buf, 0, usec);
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        _mav_put_int16_t(buf, 8, xacc);
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        _mav_put_int16_t(buf, 10, yacc);
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        _mav_put_int16_t(buf, 12, zacc);
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        _mav_put_int16_t(buf, 14, xgyro);
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        _mav_put_int16_t(buf, 16, ygyro);
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        _mav_put_int16_t(buf, 18, zgyro);
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        _mav_put_int16_t(buf, 20, xmag);
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        _mav_put_int16_t(buf, 22, ymag);
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        _mav_put_int16_t(buf, 24, zmag);
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131
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
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#else
133
        mavlink_raw_imu_t packet;
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        packet.usec = usec;
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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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        packet.xgyro = xgyro;
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        packet.ygyro = ygyro;
140
        packet.zgyro = zgyro;
141
        packet.xmag = xmag;
142
        packet.ymag = ymag;
143
        packet.zmag = zmag;
144
 
145
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
146
#endif
147
 
148
        msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
149
        return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26);
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}
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152
/**
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 * @brief Encode a raw_imu struct into a message
154
 *
155
 * @param system_id ID of this system
156
 * @param component_id ID of this component (e.g. 200 for IMU)
157
 * @param msg The MAVLink message to compress the data into
158
 * @param raw_imu C-struct to read the message contents from
159
 */
160
static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
161
{
162
        return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
163
}
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/**
166
 * @brief Send a raw_imu message
167
 * @param chan MAVLink channel to send the message
168
 *
169
 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
170
 * @param xacc X acceleration (raw)
171
 * @param yacc Y acceleration (raw)
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 * @param zacc Z acceleration (raw)
173
 * @param xgyro Angular speed around X axis (raw)
174
 * @param ygyro Angular speed around Y axis (raw)
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 * @param zgyro Angular speed around Z axis (raw)
176
 * @param xmag X Magnetic field (raw)
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 * @param ymag Y Magnetic field (raw)
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 * @param zmag Z Magnetic field (raw)
179
 */
180
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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182
static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
183
{
184
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
185
        char buf[26];
186
        _mav_put_uint64_t(buf, 0, usec);
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        _mav_put_int16_t(buf, 8, xacc);
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        _mav_put_int16_t(buf, 10, yacc);
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        _mav_put_int16_t(buf, 12, zacc);
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        _mav_put_int16_t(buf, 14, xgyro);
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        _mav_put_int16_t(buf, 16, ygyro);
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        _mav_put_int16_t(buf, 18, zgyro);
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        _mav_put_int16_t(buf, 20, xmag);
194
        _mav_put_int16_t(buf, 22, ymag);
195
        _mav_put_int16_t(buf, 24, zmag);
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197
        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, 26);
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#else
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        mavlink_raw_imu_t packet;
200
        packet.usec = usec;
201
        packet.xacc = xacc;
202
        packet.yacc = yacc;
203
        packet.zacc = zacc;
204
        packet.xgyro = xgyro;
205
        packet.ygyro = ygyro;
206
        packet.zgyro = zgyro;
207
        packet.xmag = xmag;
208
        packet.ymag = ymag;
209
        packet.zmag = zmag;
210
 
211
        _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, 26);
212
#endif
213
}
214
 
215
#endif
216
 
217
// MESSAGE RAW_IMU UNPACKING
218
 
219
 
220
/**
221
 * @brief Get field usec from raw_imu message
222
 *
223
 * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
224
 */
225
static inline uint64_t mavlink_msg_raw_imu_get_usec(const mavlink_message_t* msg)
226
{
227
        return _MAV_RETURN_uint64_t(msg,  0);
228
}
229
 
230
/**
231
 * @brief Get field xacc from raw_imu message
232
 *
233
 * @return X acceleration (raw)
234
 */
235
static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
236
{
237
        return _MAV_RETURN_int16_t(msg,  8);
238
}
239
 
240
/**
241
 * @brief Get field yacc from raw_imu message
242
 *
243
 * @return Y acceleration (raw)
244
 */
245
static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
246
{
247
        return _MAV_RETURN_int16_t(msg,  10);
248
}
249
 
250
/**
251
 * @brief Get field zacc from raw_imu message
252
 *
253
 * @return Z acceleration (raw)
254
 */
255
static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
256
{
257
        return _MAV_RETURN_int16_t(msg,  12);
258
}
259
 
260
/**
261
 * @brief Get field xgyro from raw_imu message
262
 *
263
 * @return Angular speed around X axis (raw)
264
 */
265
static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
266
{
267
        return _MAV_RETURN_int16_t(msg,  14);
268
}
269
 
270
/**
271
 * @brief Get field ygyro from raw_imu message
272
 *
273
 * @return Angular speed around Y axis (raw)
274
 */
275
static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
276
{
277
        return _MAV_RETURN_int16_t(msg,  16);
278
}
279
 
280
/**
281
 * @brief Get field zgyro from raw_imu message
282
 *
283
 * @return Angular speed around Z axis (raw)
284
 */
285
static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
286
{
287
        return _MAV_RETURN_int16_t(msg,  18);
288
}
289
 
290
/**
291
 * @brief Get field xmag from raw_imu message
292
 *
293
 * @return X Magnetic field (raw)
294
 */
295
static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
296
{
297
        return _MAV_RETURN_int16_t(msg,  20);
298
}
299
 
300
/**
301
 * @brief Get field ymag from raw_imu message
302
 *
303
 * @return Y Magnetic field (raw)
304
 */
305
static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
306
{
307
        return _MAV_RETURN_int16_t(msg,  22);
308
}
309
 
310
/**
311
 * @brief Get field zmag from raw_imu message
312
 *
313
 * @return Z Magnetic field (raw)
314
 */
315
static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
316
{
317
        return _MAV_RETURN_int16_t(msg,  24);
318
}
319
 
320
/**
321
 * @brief Decode a raw_imu message into a struct
322
 *
323
 * @param msg The message to decode
324
 * @param raw_imu C-struct to decode the message contents into
325
 */
326
static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu)
327
{
328
#if MAVLINK_NEED_BYTE_SWAP
329
        raw_imu->usec = mavlink_msg_raw_imu_get_usec(msg);
330
        raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg);
331
        raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg);
332
        raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg);
333
        raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg);
334
        raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg);
335
        raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg);
336
        raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg);
337
        raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg);
338
        raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg);
339
#else
340
        memcpy(raw_imu, _MAV_PAYLOAD(msg), 26);
341
#endif
342
}