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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE ATTITUDE_QUATERNION PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31 |
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| 4 | |||
| 5 | typedef struct __mavlink_attitude_quaternion_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 q1; ///< Quaternion component 1 |
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| 9 | float q2; ///< Quaternion component 2 |
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| 10 | float q3; ///< Quaternion component 3 |
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| 11 | float q4; ///< Quaternion component 4 |
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| 12 | float rollspeed; ///< Roll angular speed (rad/s) |
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| 13 | float pitchspeed; ///< Pitch angular speed (rad/s) |
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| 14 | float yawspeed; ///< Yaw angular speed (rad/s) |
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| 15 | } mavlink_attitude_quaternion_t; |
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| 16 | |||
| 17 | #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32 |
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| 18 | #define MAVLINK_MSG_ID_31_LEN 32 |
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| 19 | |||
| 20 | |||
| 21 | |||
| 22 | #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \ |
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| 23 | "ATTITUDE_QUATERNION", \ |
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| 24 | 8, \ |
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| 25 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \ |
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| 26 | { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \ |
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| 27 | { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \ |
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| 28 | { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \ |
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| 29 | { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \ |
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| 30 | { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \ |
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| 31 | { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \ |
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| 32 | { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \ |
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| 33 | } \ |
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| 34 | } |
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| 35 | |||
| 36 | |||
| 37 | /** |
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| 38 | * @brief Pack a attitude_quaternion message |
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| 39 | * @param system_id ID of this system |
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| 40 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 41 | * @param msg The MAVLink message to compress the data into |
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| 42 | * |
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| 43 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 44 | * @param q1 Quaternion component 1 |
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| 45 | * @param q2 Quaternion component 2 |
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| 46 | * @param q3 Quaternion component 3 |
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| 47 | * @param q4 Quaternion component 4 |
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| 48 | * @param rollspeed Roll angular speed (rad/s) |
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| 49 | * @param pitchspeed Pitch angular speed (rad/s) |
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| 50 | * @param yawspeed Yaw angular speed (rad/s) |
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| 51 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 52 | */ |
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| 53 | static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 54 | uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed) |
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| 55 | { |
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| 56 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 57 | char buf[32]; |
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| 58 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 59 | _mav_put_float(buf, 4, q1); |
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| 60 | _mav_put_float(buf, 8, q2); |
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| 61 | _mav_put_float(buf, 12, q3); |
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| 62 | _mav_put_float(buf, 16, q4); |
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| 63 | _mav_put_float(buf, 20, rollspeed); |
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| 64 | _mav_put_float(buf, 24, pitchspeed); |
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| 65 | _mav_put_float(buf, 28, yawspeed); |
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| 66 | |||
| 67 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); |
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| 68 | #else |
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| 69 | mavlink_attitude_quaternion_t packet; |
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| 70 | packet.time_boot_ms = time_boot_ms; |
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| 71 | packet.q1 = q1; |
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| 72 | packet.q2 = q2; |
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| 73 | packet.q3 = q3; |
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| 74 | packet.q4 = q4; |
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| 75 | packet.rollspeed = rollspeed; |
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| 76 | packet.pitchspeed = pitchspeed; |
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| 77 | packet.yawspeed = yawspeed; |
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| 78 | |||
| 79 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); |
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| 80 | #endif |
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| 81 | |||
| 82 | msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION; |
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| 83 | return mavlink_finalize_message(msg, system_id, component_id, 32, 246); |
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| 84 | } |
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| 85 | |||
| 86 | /** |
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| 87 | * @brief Pack a attitude_quaternion message on a channel |
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| 88 | * @param system_id ID of this system |
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| 89 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 90 | * @param chan The MAVLink channel this message was sent over |
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| 91 | * @param msg The MAVLink message to compress the data into |
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| 92 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 93 | * @param q1 Quaternion component 1 |
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| 94 | * @param q2 Quaternion component 2 |
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| 95 | * @param q3 Quaternion component 3 |
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| 96 | * @param q4 Quaternion component 4 |
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| 97 | * @param rollspeed Roll angular speed (rad/s) |
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| 98 | * @param pitchspeed Pitch angular speed (rad/s) |
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| 99 | * @param yawspeed Yaw angular speed (rad/s) |
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| 100 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 101 | */ |
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| 102 | static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 103 | mavlink_message_t* msg, |
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| 104 | uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed) |
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| 105 | { |
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| 106 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 107 | char buf[32]; |
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| 108 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 109 | _mav_put_float(buf, 4, q1); |
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| 110 | _mav_put_float(buf, 8, q2); |
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| 111 | _mav_put_float(buf, 12, q3); |
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| 112 | _mav_put_float(buf, 16, q4); |
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| 113 | _mav_put_float(buf, 20, rollspeed); |
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| 114 | _mav_put_float(buf, 24, pitchspeed); |
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| 115 | _mav_put_float(buf, 28, yawspeed); |
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| 116 | |||
| 117 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); |
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| 118 | #else |
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| 119 | mavlink_attitude_quaternion_t packet; |
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| 120 | packet.time_boot_ms = time_boot_ms; |
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| 121 | packet.q1 = q1; |
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| 122 | packet.q2 = q2; |
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| 123 | packet.q3 = q3; |
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| 124 | packet.q4 = q4; |
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| 125 | packet.rollspeed = rollspeed; |
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| 126 | packet.pitchspeed = pitchspeed; |
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| 127 | packet.yawspeed = yawspeed; |
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| 128 | |||
| 129 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); |
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| 130 | #endif |
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| 131 | |||
| 132 | msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION; |
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| 133 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 246); |
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| 134 | } |
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| 135 | |||
| 136 | /** |
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| 137 | * @brief Encode a attitude_quaternion struct into a message |
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| 138 | * |
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| 139 | * @param system_id ID of this system |
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| 140 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 141 | * @param msg The MAVLink message to compress the data into |
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| 142 | * @param attitude_quaternion C-struct to read the message contents from |
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| 143 | */ |
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| 144 | static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion) |
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| 145 | { |
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| 146 | return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed); |
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| 147 | } |
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| 148 | |||
| 149 | /** |
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| 150 | * @brief Send a attitude_quaternion message |
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| 151 | * @param chan MAVLink channel to send the message |
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| 152 | * |
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| 153 | * @param time_boot_ms Timestamp (milliseconds since system boot) |
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| 154 | * @param q1 Quaternion component 1 |
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| 155 | * @param q2 Quaternion component 2 |
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| 156 | * @param q3 Quaternion component 3 |
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| 157 | * @param q4 Quaternion component 4 |
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| 158 | * @param rollspeed Roll angular speed (rad/s) |
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| 159 | * @param pitchspeed Pitch angular speed (rad/s) |
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| 160 | * @param yawspeed Yaw angular speed (rad/s) |
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| 161 | */ |
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| 162 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 163 | |||
| 164 | static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed) |
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| 165 | { |
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| 166 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 167 | char buf[32]; |
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| 168 | _mav_put_uint32_t(buf, 0, time_boot_ms); |
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| 169 | _mav_put_float(buf, 4, q1); |
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| 170 | _mav_put_float(buf, 8, q2); |
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| 171 | _mav_put_float(buf, 12, q3); |
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| 172 | _mav_put_float(buf, 16, q4); |
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| 173 | _mav_put_float(buf, 20, rollspeed); |
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| 174 | _mav_put_float(buf, 24, pitchspeed); |
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| 175 | _mav_put_float(buf, 28, yawspeed); |
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| 176 | |||
| 177 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, 32, 246); |
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| 178 | #else |
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| 179 | mavlink_attitude_quaternion_t packet; |
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| 180 | packet.time_boot_ms = time_boot_ms; |
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| 181 | packet.q1 = q1; |
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| 182 | packet.q2 = q2; |
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| 183 | packet.q3 = q3; |
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| 184 | packet.q4 = q4; |
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| 185 | packet.rollspeed = rollspeed; |
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| 186 | packet.pitchspeed = pitchspeed; |
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| 187 | packet.yawspeed = yawspeed; |
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| 188 | |||
| 189 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, 32, 246); |
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| 190 | #endif |
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| 191 | } |
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| 192 | |||
| 193 | #endif |
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| 194 | |||
| 195 | // MESSAGE ATTITUDE_QUATERNION UNPACKING |
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| 196 | |||
| 197 | |||
| 198 | /** |
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| 199 | * @brief Get field time_boot_ms from attitude_quaternion message |
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| 200 | * |
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| 201 | * @return Timestamp (milliseconds since system boot) |
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| 202 | */ |
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| 203 | static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg) |
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| 204 | { |
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| 205 | return _MAV_RETURN_uint32_t(msg, 0); |
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| 206 | } |
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| 207 | |||
| 208 | /** |
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| 209 | * @brief Get field q1 from attitude_quaternion message |
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| 210 | * |
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| 211 | * @return Quaternion component 1 |
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| 212 | */ |
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| 213 | static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg) |
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| 214 | { |
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| 215 | return _MAV_RETURN_float(msg, 4); |
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| 216 | } |
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| 217 | |||
| 218 | /** |
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| 219 | * @brief Get field q2 from attitude_quaternion message |
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| 220 | * |
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| 221 | * @return Quaternion component 2 |
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| 222 | */ |
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| 223 | static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg) |
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| 224 | { |
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| 225 | return _MAV_RETURN_float(msg, 8); |
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| 226 | } |
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| 227 | |||
| 228 | /** |
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| 229 | * @brief Get field q3 from attitude_quaternion message |
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| 230 | * |
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| 231 | * @return Quaternion component 3 |
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| 232 | */ |
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| 233 | static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg) |
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| 234 | { |
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| 235 | return _MAV_RETURN_float(msg, 12); |
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| 236 | } |
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| 237 | |||
| 238 | /** |
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| 239 | * @brief Get field q4 from attitude_quaternion message |
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| 240 | * |
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| 241 | * @return Quaternion component 4 |
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| 242 | */ |
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| 243 | static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg) |
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| 244 | { |
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| 245 | return _MAV_RETURN_float(msg, 16); |
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| 246 | } |
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| 247 | |||
| 248 | /** |
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| 249 | * @brief Get field rollspeed from attitude_quaternion message |
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| 250 | * |
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| 251 | * @return Roll angular speed (rad/s) |
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| 252 | */ |
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| 253 | static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg) |
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| 254 | { |
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| 255 | return _MAV_RETURN_float(msg, 20); |
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| 256 | } |
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| 257 | |||
| 258 | /** |
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| 259 | * @brief Get field pitchspeed from attitude_quaternion message |
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| 260 | * |
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| 261 | * @return Pitch angular speed (rad/s) |
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| 262 | */ |
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| 263 | static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg) |
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| 264 | { |
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| 265 | return _MAV_RETURN_float(msg, 24); |
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| 266 | } |
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| 267 | |||
| 268 | /** |
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| 269 | * @brief Get field yawspeed from attitude_quaternion message |
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| 270 | * |
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| 271 | * @return Yaw angular speed (rad/s) |
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| 272 | */ |
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| 273 | static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg) |
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| 274 | { |
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| 275 | return _MAV_RETURN_float(msg, 28); |
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| 276 | } |
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| 277 | |||
| 278 | /** |
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| 279 | * @brief Decode a attitude_quaternion message into a struct |
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| 280 | * |
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| 281 | * @param msg The message to decode |
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| 282 | * @param attitude_quaternion C-struct to decode the message contents into |
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| 283 | */ |
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| 284 | static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion) |
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| 285 | { |
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| 286 | #if MAVLINK_NEED_BYTE_SWAP |
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| 287 | attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg); |
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| 288 | attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg); |
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| 289 | attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg); |
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| 290 | attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg); |
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| 291 | attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg); |
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| 292 | attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg); |
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| 293 | attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg); |
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| 294 | attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg); |
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| 295 | #else |
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| 296 | memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), 32); |
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| 297 | #endif |
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| 298 | } |