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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE ATTITUDE PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_ATTITUDE 30 |
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| 4 | |||
| 5 | typedef struct __mavlink_attitude_t |
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| 6 | { |
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| 7 | uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) |
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| 8 | float roll; ///< Roll angle (rad) |
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| 9 | float pitch; ///< Pitch angle (rad) |
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| 10 | float yaw; ///< Yaw angle (rad) |
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| 11 | float rollspeed; ///< Roll angular speed (rad/s) |
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| 12 | float pitchspeed; ///< Pitch angular speed (rad/s) |
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| 13 | float yawspeed; ///< Yaw angular speed (rad/s) |
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| 14 | } mavlink_attitude_t; |
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| 15 | |||
| 16 | #define MAVLINK_MSG_ID_ATTITUDE_LEN 28 |
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| 17 | #define MAVLINK_MSG_ID_30_LEN 28 |
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| 18 | |||
| 19 | |||
| 20 | |||
| 21 | #define MAVLINK_MESSAGE_INFO_ATTITUDE { \ |
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| 22 | "ATTITUDE", \ |
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| 23 | 7, \ |
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| 24 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \ |
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| 25 | { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \ |
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| 26 | { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \ |
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| 27 | { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \ |
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| 28 | { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \ |
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| 29 | { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \ |
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| 30 | { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \ |
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| 31 | } \ |
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| 32 | } |
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| 33 | |||
| 34 | |||
| 35 | /** |
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| 36 | * @brief Pack a attitude message |
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| 37 | * @param system_id ID of this system |
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| 38 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 39 | * @param msg The MAVLink message to compress the data into |
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| 40 | * |
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| 41 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 42 | * @param roll Roll angle (rad) |
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| 43 | * @param pitch Pitch angle (rad) |
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| 44 | * @param yaw Yaw angle (rad) |
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| 45 | * @param rollspeed Roll angular speed (rad/s) |
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| 46 | * @param pitchspeed Pitch angular speed (rad/s) |
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| 47 | * @param yawspeed Yaw angular speed (rad/s) |
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| 48 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 49 | */ |
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| 50 | static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 51 | uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) |
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| 52 | { |
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| 53 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 54 | char buf[28]; |
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| 55 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 56 | _mav_put_float(buf, 4, roll); |
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| 57 | _mav_put_float(buf, 8, pitch); |
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| 58 | _mav_put_float(buf, 12, yaw); |
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| 59 | _mav_put_float(buf, 16, rollspeed); |
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| 60 | _mav_put_float(buf, 20, pitchspeed); |
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| 61 | _mav_put_float(buf, 24, yawspeed); |
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| 62 | |||
| 63 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); |
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| 64 | #else |
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| 65 | mavlink_attitude_t packet; |
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| 66 | packet.time_boot_ms = time_boot_ms; |
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| 67 | packet.roll = roll; |
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| 68 | packet.pitch = pitch; |
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| 69 | packet.yaw = yaw; |
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| 70 | packet.rollspeed = rollspeed; |
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| 71 | packet.pitchspeed = pitchspeed; |
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| 72 | packet.yawspeed = yawspeed; |
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| 73 | |||
| 74 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); |
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| 75 | #endif |
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| 76 | |||
| 77 | msg->msgid = MAVLINK_MSG_ID_ATTITUDE; |
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| 78 | return mavlink_finalize_message(msg, system_id, component_id, 28, 39); |
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| 79 | } |
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| 80 | |||
| 81 | /** |
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| 82 | * @brief Pack a attitude message on a channel |
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| 83 | * @param system_id ID of this system |
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| 84 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 85 | * @param chan The MAVLink channel this message was sent over |
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| 86 | * @param msg The MAVLink message to compress the data into |
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| 87 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 88 | * @param roll Roll angle (rad) |
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| 89 | * @param pitch Pitch angle (rad) |
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| 90 | * @param yaw Yaw angle (rad) |
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| 91 | * @param rollspeed Roll angular speed (rad/s) |
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| 92 | * @param pitchspeed Pitch angular speed (rad/s) |
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| 93 | * @param yawspeed Yaw angular speed (rad/s) |
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| 94 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 95 | */ |
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| 96 | static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 97 | mavlink_message_t* msg, |
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| 98 | uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed) |
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| 99 | { |
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| 100 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 101 | char buf[28]; |
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| 102 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 103 | _mav_put_float(buf, 4, roll); |
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| 104 | _mav_put_float(buf, 8, pitch); |
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| 105 | _mav_put_float(buf, 12, yaw); |
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| 106 | _mav_put_float(buf, 16, rollspeed); |
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| 107 | _mav_put_float(buf, 20, pitchspeed); |
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| 108 | _mav_put_float(buf, 24, yawspeed); |
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| 109 | |||
| 110 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28); |
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| 111 | #else |
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| 112 | mavlink_attitude_t packet; |
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| 113 | packet.time_boot_ms = time_boot_ms; |
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| 114 | packet.roll = roll; |
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| 115 | packet.pitch = pitch; |
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| 116 | packet.yaw = yaw; |
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| 117 | packet.rollspeed = rollspeed; |
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| 118 | packet.pitchspeed = pitchspeed; |
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| 119 | packet.yawspeed = yawspeed; |
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| 120 | |||
| 121 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28); |
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| 122 | #endif |
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| 123 | |||
| 124 | msg->msgid = MAVLINK_MSG_ID_ATTITUDE; |
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| 125 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 39); |
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| 126 | } |
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| 127 | |||
| 128 | /** |
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| 129 | * @brief Encode a attitude struct into a message |
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| 130 | * |
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| 131 | * @param system_id ID of this system |
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| 132 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 133 | * @param msg The MAVLink message to compress the data into |
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| 134 | * @param attitude C-struct to read the message contents from |
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| 135 | */ |
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| 136 | static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude) |
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| 137 | { |
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| 138 | return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed); |
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| 139 | } |
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| 140 | |||
| 141 | /** |
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| 142 | * @brief Send a attitude message |
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| 143 | * @param chan MAVLink channel to send the message |
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| 144 | * |
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| 145 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 146 | * @param roll Roll angle (rad) |
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| 147 | * @param pitch Pitch angle (rad) |
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| 148 | * @param yaw Yaw angle (rad) |
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| 149 | * @param rollspeed Roll angular speed (rad/s) |
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| 150 | * @param pitchspeed Pitch angular speed (rad/s) |
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| 151 | * @param yawspeed Yaw angular speed (rad/s) |
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| 152 | */ |
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| 153 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 154 | |||
| 155 | static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) |
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| 156 | { |
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| 157 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 158 | char buf[28]; |
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| 159 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 160 | _mav_put_float(buf, 4, roll); |
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| 161 | _mav_put_float(buf, 8, pitch); |
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| 162 | _mav_put_float(buf, 12, yaw); |
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| 163 | _mav_put_float(buf, 16, rollspeed); |
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| 164 | _mav_put_float(buf, 20, pitchspeed); |
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| 165 | _mav_put_float(buf, 24, yawspeed); |
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| 166 | |||
| 167 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, 28, 39); |
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| 168 | #else |
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| 169 | mavlink_attitude_t packet; |
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| 170 | packet.time_boot_ms = time_boot_ms; |
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| 171 | packet.roll = roll; |
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| 172 | packet.pitch = pitch; |
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| 173 | packet.yaw = yaw; |
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| 174 | packet.rollspeed = rollspeed; |
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| 175 | packet.pitchspeed = pitchspeed; |
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| 176 | packet.yawspeed = yawspeed; |
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| 177 | |||
| 178 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 28, 39); |
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| 179 | #endif |
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| 180 | } |
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| 181 | |||
| 182 | #endif |
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| 183 | |||
| 184 | // MESSAGE ATTITUDE UNPACKING |
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| 185 | |||
| 186 | |||
| 187 | /** |
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| 188 | * @brief Get field time_boot_ms from attitude message |
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| 189 | * |
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| 190 | * @return Timestamp (milliseconds since system boot) |
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| 191 | */ |
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| 192 | static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg) |
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| 193 | { |
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| 194 | return _MAV_RETURN_uint32_t(msg, 0); |
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| 195 | } |
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| 196 | |||
| 197 | /** |
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| 198 | * @brief Get field roll from attitude message |
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| 199 | * |
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| 200 | * @return Roll angle (rad) |
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| 201 | */ |
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| 202 | static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg) |
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| 203 | { |
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| 204 | return _MAV_RETURN_float(msg, 4); |
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| 205 | } |
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| 206 | |||
| 207 | /** |
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| 208 | * @brief Get field pitch from attitude message |
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| 209 | * |
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| 210 | * @return Pitch angle (rad) |
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| 211 | */ |
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| 212 | static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg) |
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| 213 | { |
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| 214 | return _MAV_RETURN_float(msg, 8); |
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| 215 | } |
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| 216 | |||
| 217 | /** |
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| 218 | * @brief Get field yaw from attitude message |
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| 219 | * |
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| 220 | * @return Yaw angle (rad) |
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| 221 | */ |
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| 222 | static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg) |
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| 223 | { |
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| 224 | return _MAV_RETURN_float(msg, 12); |
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| 225 | } |
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| 226 | |||
| 227 | /** |
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| 228 | * @brief Get field rollspeed from attitude message |
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| 229 | * |
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| 230 | * @return Roll angular speed (rad/s) |
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| 231 | */ |
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| 232 | static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg) |
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| 233 | { |
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| 234 | return _MAV_RETURN_float(msg, 16); |
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| 235 | } |
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| 236 | |||
| 237 | /** |
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| 238 | * @brief Get field pitchspeed from attitude message |
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| 239 | * |
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| 240 | * @return Pitch angular speed (rad/s) |
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| 241 | */ |
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| 242 | static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg) |
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| 243 | { |
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| 244 | return _MAV_RETURN_float(msg, 20); |
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| 245 | } |
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| 246 | |||
| 247 | /** |
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| 248 | * @brief Get field yawspeed from attitude message |
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| 249 | * |
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| 250 | * @return Yaw angular speed (rad/s) |
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| 251 | */ |
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| 252 | static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg) |
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| 253 | { |
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| 254 | return _MAV_RETURN_float(msg, 24); |
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| 255 | } |
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| 256 | |||
| 257 | /** |
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| 258 | * @brief Decode a attitude message into a struct |
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| 259 | * |
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| 260 | * @param msg The message to decode |
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| 261 | * @param attitude C-struct to decode the message contents into |
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| 262 | */ |
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| 263 | static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude) |
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| 264 | { |
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| 265 | #if MAVLINK_NEED_BYTE_SWAP |
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| 266 | attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg); |
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| 267 | attitude->roll = mavlink_msg_attitude_get_roll(msg); |
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| 268 | attitude->pitch = mavlink_msg_attitude_get_pitch(msg); |
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| 269 | attitude->yaw = mavlink_msg_attitude_get_yaw(msg); |
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| 270 | attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg); |
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| 271 | attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg); |
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| 272 | attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg); |
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| 273 | #else |
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| 274 | memcpy(attitude, _MAV_PAYLOAD(msg), 28); |
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| 275 | #endif |
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| 276 | } |