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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE OBS_ATTITUDE PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_OBS_ATTITUDE 174 |
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| 4 | |||
| 5 | typedef struct __mavlink_obs_attitude_t |
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| 6 | { |
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| 7 | double quat[4]; ///< Quaternion re;im |
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| 8 | } mavlink_obs_attitude_t; |
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| 9 | |||
| 10 | #define MAVLINK_MSG_ID_OBS_ATTITUDE_LEN 32 |
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| 11 | #define MAVLINK_MSG_ID_174_LEN 32 |
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| 12 | |||
| 13 | #define MAVLINK_MSG_OBS_ATTITUDE_FIELD_QUAT_LEN 4 |
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| 14 | |||
| 15 | #define MAVLINK_MESSAGE_INFO_OBS_ATTITUDE { \ |
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| 16 | "OBS_ATTITUDE", \ |
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| 17 | 1, \ |
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| 18 | { { "quat", NULL, MAVLINK_TYPE_DOUBLE, 4, 0, offsetof(mavlink_obs_attitude_t, quat) }, \ |
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| 19 | } \ |
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| 20 | } |
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| 21 | |||
| 22 | |||
| 23 | /** |
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| 24 | * @brief Pack a obs_attitude message |
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| 25 | * @param system_id ID of this system |
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| 26 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 27 | * @param msg The MAVLink message to compress the data into |
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| 28 | * |
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| 29 | * @param quat Quaternion re;im |
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| 30 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 31 | */ |
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| 32 | static inline uint16_t mavlink_msg_obs_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 33 | const double *quat) |
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| 34 | { |
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| 35 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 36 | char buf[32]; |
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| 37 | |||
| 38 | _mav_put_double_array(buf, 0, quat, 4); |
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| 39 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); |
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| 40 | #else |
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| 41 | mavlink_obs_attitude_t packet; |
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| 42 | |||
| 43 | mav_array_memcpy(packet.quat, quat, sizeof(double)*4); |
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| 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); |
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| 45 | #endif |
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| 46 | |||
| 47 | msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE; |
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| 48 | return mavlink_finalize_message(msg, system_id, component_id, 32, 146); |
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| 49 | } |
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| 50 | |||
| 51 | /** |
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| 52 | * @brief Pack a obs_attitude message on a channel |
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| 53 | * @param system_id ID of this system |
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| 54 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 55 | * @param chan The MAVLink channel this message was sent over |
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| 56 | * @param msg The MAVLink message to compress the data into |
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| 57 | * @param quat Quaternion re;im |
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| 58 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 59 | */ |
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| 60 | static inline uint16_t mavlink_msg_obs_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 61 | mavlink_message_t* msg, |
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| 62 | const double *quat) |
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| 63 | { |
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| 64 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 65 | char buf[32]; |
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| 66 | |||
| 67 | _mav_put_double_array(buf, 0, quat, 4); |
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| 68 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); |
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| 69 | #else |
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| 70 | mavlink_obs_attitude_t packet; |
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| 71 | |||
| 72 | mav_array_memcpy(packet.quat, quat, sizeof(double)*4); |
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| 73 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); |
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| 74 | #endif |
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| 75 | |||
| 76 | msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE; |
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| 77 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 146); |
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| 78 | } |
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| 79 | |||
| 80 | /** |
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| 81 | * @brief Encode a obs_attitude struct into a message |
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| 82 | * |
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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 msg The MAVLink message to compress the data into |
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| 86 | * @param obs_attitude C-struct to read the message contents from |
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| 87 | */ |
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| 88 | static inline uint16_t mavlink_msg_obs_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude) |
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| 89 | { |
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| 90 | return mavlink_msg_obs_attitude_pack(system_id, component_id, msg, obs_attitude->quat); |
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| 91 | } |
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| 92 | |||
| 93 | /** |
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| 94 | * @brief Send a obs_attitude message |
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| 95 | * @param chan MAVLink channel to send the message |
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| 96 | * |
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| 97 | * @param quat Quaternion re;im |
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| 98 | */ |
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| 99 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 100 | |||
| 101 | static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const double *quat) |
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| 102 | { |
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| 103 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 104 | char buf[32]; |
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| 105 | |||
| 106 | _mav_put_double_array(buf, 0, quat, 4); |
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| 107 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, 32, 146); |
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| 108 | #else |
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| 109 | mavlink_obs_attitude_t packet; |
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| 110 | |||
| 111 | mav_array_memcpy(packet.quat, quat, sizeof(double)*4); |
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| 112 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, 32, 146); |
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| 113 | #endif |
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| 114 | } |
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| 115 | |||
| 116 | #endif |
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| 117 | |||
| 118 | // MESSAGE OBS_ATTITUDE UNPACKING |
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| 119 | |||
| 120 | |||
| 121 | /** |
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| 122 | * @brief Get field quat from obs_attitude message |
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| 123 | * |
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| 124 | * @return Quaternion re;im |
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| 125 | */ |
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| 126 | static inline uint16_t mavlink_msg_obs_attitude_get_quat(const mavlink_message_t* msg, double *quat) |
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| 127 | { |
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| 128 | return _MAV_RETURN_double_array(msg, quat, 4, 0); |
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| 129 | } |
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| 130 | |||
| 131 | /** |
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| 132 | * @brief Decode a obs_attitude message into a struct |
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| 133 | * |
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| 134 | * @param msg The message to decode |
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| 135 | * @param obs_attitude C-struct to decode the message contents into |
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| 136 | */ |
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| 137 | static inline void mavlink_msg_obs_attitude_decode(const mavlink_message_t* msg, mavlink_obs_attitude_t* obs_attitude) |
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| 138 | { |
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| 139 | #if MAVLINK_NEED_BYTE_SWAP |
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| 140 | mavlink_msg_obs_attitude_get_quat(msg, obs_attitude->quat); |
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| 141 | #else |
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| 142 | memcpy(obs_attitude, _MAV_PAYLOAD(msg), 32); |
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| 143 | #endif |
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| 144 | } |