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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE SIMSTATE PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_SIMSTATE 164 |
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| 4 | |||
| 5 | typedef struct __mavlink_simstate_t |
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| 6 | { |
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| 7 | float roll; ///< Roll angle (rad) |
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| 8 | float pitch; ///< Pitch angle (rad) |
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| 9 | float yaw; ///< Yaw angle (rad) |
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| 10 | float xacc; ///< X acceleration m/s/s |
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| 11 | float yacc; ///< Y acceleration m/s/s |
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| 12 | float zacc; ///< Z acceleration m/s/s |
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| 13 | float xgyro; ///< Angular speed around X axis rad/s |
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| 14 | float ygyro; ///< Angular speed around Y axis rad/s |
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| 15 | float zgyro; ///< Angular speed around Z axis rad/s |
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| 16 | } mavlink_simstate_t; |
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| 17 | |||
| 18 | #define MAVLINK_MSG_ID_SIMSTATE_LEN 36 |
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| 19 | #define MAVLINK_MSG_ID_164_LEN 36 |
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| 20 | |||
| 21 | |||
| 22 | |||
| 23 | #define MAVLINK_MESSAGE_INFO_SIMSTATE { \ |
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| 24 | "SIMSTATE", \ |
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| 25 | 9, \ |
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| 26 | { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \ |
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| 27 | { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \ |
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| 28 | { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \ |
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| 29 | { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \ |
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| 30 | { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \ |
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| 31 | { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \ |
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| 32 | { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \ |
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| 33 | { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \ |
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| 34 | { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \ |
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| 35 | } \ |
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| 36 | } |
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| 37 | |||
| 38 | |||
| 39 | /** |
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| 40 | * @brief Pack a simstate message |
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| 41 | * @param system_id ID of this system |
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| 42 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 43 | * @param msg The MAVLink message to compress the data into |
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| 44 | * |
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| 45 | * @param roll Roll angle (rad) |
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| 46 | * @param pitch Pitch angle (rad) |
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| 47 | * @param yaw Yaw angle (rad) |
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| 48 | * @param xacc X acceleration m/s/s |
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| 49 | * @param yacc Y acceleration m/s/s |
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| 50 | * @param zacc Z acceleration m/s/s |
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| 51 | * @param xgyro Angular speed around X axis rad/s |
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| 52 | * @param ygyro Angular speed around Y axis rad/s |
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| 53 | * @param zgyro Angular speed around Z axis rad/s |
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| 54 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 55 | */ |
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| 56 | static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 57 | float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro) |
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| 58 | { |
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| 59 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 60 | char buf[36]; |
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| 61 | _mav_put_float(buf, 0, roll); |
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| 62 | _mav_put_float(buf, 4, pitch); |
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| 63 | _mav_put_float(buf, 8, yaw); |
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| 64 | _mav_put_float(buf, 12, xacc); |
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| 65 | _mav_put_float(buf, 16, yacc); |
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| 66 | _mav_put_float(buf, 20, zacc); |
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| 67 | _mav_put_float(buf, 24, xgyro); |
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| 68 | _mav_put_float(buf, 28, ygyro); |
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| 69 | _mav_put_float(buf, 32, zgyro); |
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| 70 | |||
| 71 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); |
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| 72 | #else |
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| 73 | mavlink_simstate_t packet; |
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| 74 | packet.roll = roll; |
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| 75 | packet.pitch = pitch; |
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| 76 | packet.yaw = yaw; |
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| 77 | packet.xacc = xacc; |
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| 78 | packet.yacc = yacc; |
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| 79 | packet.zacc = zacc; |
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| 80 | packet.xgyro = xgyro; |
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| 81 | packet.ygyro = ygyro; |
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| 82 | packet.zgyro = zgyro; |
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| 83 | |||
| 84 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); |
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| 85 | #endif |
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| 86 | |||
| 87 | msg->msgid = MAVLINK_MSG_ID_SIMSTATE; |
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| 88 | return mavlink_finalize_message(msg, system_id, component_id, 36, 42); |
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| 89 | } |
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| 90 | |||
| 91 | /** |
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| 92 | * @brief Pack a simstate message on a channel |
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| 93 | * @param system_id ID of this system |
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| 94 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 95 | * @param chan The MAVLink channel this message was sent over |
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| 96 | * @param msg The MAVLink message to compress the data into |
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| 97 | * @param roll Roll angle (rad) |
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| 98 | * @param pitch Pitch angle (rad) |
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| 99 | * @param yaw Yaw angle (rad) |
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| 100 | * @param xacc X acceleration m/s/s |
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| 101 | * @param yacc Y acceleration m/s/s |
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| 102 | * @param zacc Z acceleration m/s/s |
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| 103 | * @param xgyro Angular speed around X axis rad/s |
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| 104 | * @param ygyro Angular speed around Y axis rad/s |
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| 105 | * @param zgyro Angular speed around Z axis rad/s |
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| 106 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 107 | */ |
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| 108 | static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 109 | mavlink_message_t* msg, |
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| 110 | float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro) |
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| 111 | { |
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| 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 113 | char buf[36]; |
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| 114 | _mav_put_float(buf, 0, roll); |
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| 115 | _mav_put_float(buf, 4, pitch); |
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| 116 | _mav_put_float(buf, 8, yaw); |
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| 117 | _mav_put_float(buf, 12, xacc); |
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| 118 | _mav_put_float(buf, 16, yacc); |
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| 119 | _mav_put_float(buf, 20, zacc); |
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| 120 | _mav_put_float(buf, 24, xgyro); |
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| 121 | _mav_put_float(buf, 28, ygyro); |
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| 122 | _mav_put_float(buf, 32, zgyro); |
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| 123 | |||
| 124 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 36); |
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| 125 | #else |
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| 126 | mavlink_simstate_t packet; |
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| 127 | packet.roll = roll; |
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| 128 | packet.pitch = pitch; |
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| 129 | packet.yaw = yaw; |
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| 130 | packet.xacc = xacc; |
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| 131 | packet.yacc = yacc; |
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| 132 | packet.zacc = zacc; |
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| 133 | packet.xgyro = xgyro; |
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| 134 | packet.ygyro = ygyro; |
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| 135 | packet.zgyro = zgyro; |
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| 136 | |||
| 137 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 36); |
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| 138 | #endif |
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| 139 | |||
| 140 | msg->msgid = MAVLINK_MSG_ID_SIMSTATE; |
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| 141 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 36, 42); |
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| 142 | } |
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| 143 | |||
| 144 | /** |
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| 145 | * @brief Encode a simstate struct into a message |
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| 146 | * |
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| 147 | * @param system_id ID of this system |
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| 148 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 149 | * @param msg The MAVLink message to compress the data into |
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| 150 | * @param simstate C-struct to read the message contents from |
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| 151 | */ |
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| 152 | 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) |
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| 153 | { |
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| 154 | 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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| 155 | } |
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| 156 | |||
| 157 | /** |
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| 158 | * @brief Send a simstate message |
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| 159 | * @param chan MAVLink channel to send the message |
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| 160 | * |
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| 161 | * @param roll Roll angle (rad) |
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| 162 | * @param pitch Pitch angle (rad) |
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| 163 | * @param yaw Yaw angle (rad) |
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| 164 | * @param xacc X acceleration m/s/s |
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| 165 | * @param yacc Y acceleration m/s/s |
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| 166 | * @param zacc Z acceleration m/s/s |
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| 167 | * @param xgyro Angular speed around X axis rad/s |
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| 168 | * @param ygyro Angular speed around Y axis rad/s |
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| 169 | * @param zgyro Angular speed around Z axis rad/s |
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| 170 | */ |
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| 171 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 172 | |||
| 173 | 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) |
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| 174 | { |
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| 175 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 176 | char buf[36]; |
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| 177 | _mav_put_float(buf, 0, roll); |
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| 178 | _mav_put_float(buf, 4, pitch); |
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| 179 | _mav_put_float(buf, 8, yaw); |
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| 180 | _mav_put_float(buf, 12, xacc); |
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| 181 | _mav_put_float(buf, 16, yacc); |
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| 182 | _mav_put_float(buf, 20, zacc); |
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| 183 | _mav_put_float(buf, 24, xgyro); |
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| 184 | _mav_put_float(buf, 28, ygyro); |
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| 185 | _mav_put_float(buf, 32, zgyro); |
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| 186 | |||
| 187 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, 36, 42); |
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| 188 | #else |
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| 189 | mavlink_simstate_t packet; |
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| 190 | packet.roll = roll; |
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| 191 | packet.pitch = pitch; |
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| 192 | packet.yaw = yaw; |
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| 193 | packet.xacc = xacc; |
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| 194 | packet.yacc = yacc; |
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| 195 | packet.zacc = zacc; |
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| 196 | packet.xgyro = xgyro; |
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| 197 | packet.ygyro = ygyro; |
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| 198 | packet.zgyro = zgyro; |
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| 199 | |||
| 200 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, 36, 42); |
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| 201 | #endif |
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| 202 | } |
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| 203 | |||
| 204 | #endif |
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| 205 | |||
| 206 | // MESSAGE SIMSTATE UNPACKING |
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| 207 | |||
| 208 | |||
| 209 | /** |
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| 210 | * @brief Get field roll from simstate message |
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| 211 | * |
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| 212 | * @return Roll angle (rad) |
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| 213 | */ |
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| 214 | static inline float mavlink_msg_simstate_get_roll(const mavlink_message_t* msg) |
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| 215 | { |
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| 216 | return _MAV_RETURN_float(msg, 0); |
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| 217 | } |
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| 218 | |||
| 219 | /** |
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| 220 | * @brief Get field pitch from simstate message |
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| 221 | * |
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| 222 | * @return Pitch angle (rad) |
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| 223 | */ |
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| 224 | static inline float mavlink_msg_simstate_get_pitch(const mavlink_message_t* msg) |
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| 225 | { |
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| 226 | return _MAV_RETURN_float(msg, 4); |
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| 227 | } |
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| 228 | |||
| 229 | /** |
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| 230 | * @brief Get field yaw from simstate message |
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| 231 | * |
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| 232 | * @return Yaw angle (rad) |
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| 233 | */ |
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| 234 | static inline float mavlink_msg_simstate_get_yaw(const mavlink_message_t* msg) |
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| 235 | { |
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| 236 | return _MAV_RETURN_float(msg, 8); |
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| 237 | } |
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| 238 | |||
| 239 | /** |
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| 240 | * @brief Get field xacc from simstate message |
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| 241 | * |
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| 242 | * @return X acceleration m/s/s |
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| 243 | */ |
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| 244 | static inline float mavlink_msg_simstate_get_xacc(const mavlink_message_t* msg) |
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| 245 | { |
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| 246 | return _MAV_RETURN_float(msg, 12); |
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| 247 | } |
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| 248 | |||
| 249 | /** |
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| 250 | * @brief Get field yacc from simstate message |
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| 251 | * |
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| 252 | * @return Y acceleration m/s/s |
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| 253 | */ |
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| 254 | static inline float mavlink_msg_simstate_get_yacc(const mavlink_message_t* msg) |
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| 255 | { |
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| 256 | return _MAV_RETURN_float(msg, 16); |
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| 257 | } |
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| 258 | |||
| 259 | /** |
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| 260 | * @brief Get field zacc from simstate message |
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| 261 | * |
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| 262 | * @return Z acceleration m/s/s |
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| 263 | */ |
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| 264 | static inline float mavlink_msg_simstate_get_zacc(const mavlink_message_t* msg) |
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| 265 | { |
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| 266 | return _MAV_RETURN_float(msg, 20); |
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| 267 | } |
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| 268 | |||
| 269 | /** |
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| 270 | * @brief Get field xgyro from simstate message |
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| 271 | * |
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| 272 | * @return Angular speed around X axis rad/s |
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| 273 | */ |
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| 274 | static inline float mavlink_msg_simstate_get_xgyro(const mavlink_message_t* msg) |
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| 275 | { |
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| 276 | return _MAV_RETURN_float(msg, 24); |
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| 277 | } |
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| 278 | |||
| 279 | /** |
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| 280 | * @brief Get field ygyro from simstate message |
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| 281 | * |
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| 282 | * @return Angular speed around Y axis rad/s |
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| 283 | */ |
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| 284 | static inline float mavlink_msg_simstate_get_ygyro(const mavlink_message_t* msg) |
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| 285 | { |
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| 286 | return _MAV_RETURN_float(msg, 28); |
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| 287 | } |
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| 288 | |||
| 289 | /** |
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| 290 | * @brief Get field zgyro from simstate message |
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| 291 | * |
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| 292 | * @return Angular speed around Z axis rad/s |
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| 293 | */ |
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| 294 | static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg) |
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| 295 | { |
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| 296 | return _MAV_RETURN_float(msg, 32); |
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| 297 | } |
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| 298 | |||
| 299 | /** |
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| 300 | * @brief Decode a simstate message into a struct |
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| 301 | * |
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| 302 | * @param msg The message to decode |
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| 303 | * @param simstate C-struct to decode the message contents into |
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| 304 | */ |
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| 305 | static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mavlink_simstate_t* simstate) |
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| 306 | { |
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| 307 | #if MAVLINK_NEED_BYTE_SWAP |
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| 308 | simstate->roll = mavlink_msg_simstate_get_roll(msg); |
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| 309 | simstate->pitch = mavlink_msg_simstate_get_pitch(msg); |
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| 310 | simstate->yaw = mavlink_msg_simstate_get_yaw(msg); |
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| 311 | simstate->xacc = mavlink_msg_simstate_get_xacc(msg); |
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| 312 | simstate->yacc = mavlink_msg_simstate_get_yacc(msg); |
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| 313 | simstate->zacc = mavlink_msg_simstate_get_zacc(msg); |
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| 314 | simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg); |
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| 315 | simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg); |
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| 316 | simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg); |
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| 317 | #else |
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| 318 | memcpy(simstate, _MAV_PAYLOAD(msg), 36); |
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| 319 | #endif |
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| 320 | } |