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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | // MESSAGE OBS_BIAS PACKING |
| 2 | |||
| 3 | #define MAVLINK_MSG_ID_OBS_BIAS 180 |
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| 4 | |||
| 5 | typedef struct __mavlink_obs_bias_t |
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| 6 | { |
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| 7 | float accBias[3]; ///< accelerometer bias |
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| 8 | float gyroBias[3]; ///< gyroscope bias |
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| 9 | } mavlink_obs_bias_t; |
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| 10 | |||
| 11 | #define MAVLINK_MSG_ID_OBS_BIAS_LEN 24 |
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| 12 | #define MAVLINK_MSG_ID_180_LEN 24 |
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| 13 | |||
| 14 | #define MAVLINK_MSG_OBS_BIAS_FIELD_ACCBIAS_LEN 3 |
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| 15 | #define MAVLINK_MSG_OBS_BIAS_FIELD_GYROBIAS_LEN 3 |
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| 16 | |||
| 17 | #define MAVLINK_MESSAGE_INFO_OBS_BIAS { \ |
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| 18 | "OBS_BIAS", \ |
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| 19 | 2, \ |
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| 20 | { { "accBias", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_bias_t, accBias) }, \ |
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| 21 | { "gyroBias", NULL, MAVLINK_TYPE_FLOAT, 3, 12, offsetof(mavlink_obs_bias_t, gyroBias) }, \ |
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| 22 | } \ |
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| 23 | } |
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| 24 | |||
| 25 | |||
| 26 | /** |
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| 27 | * @brief Pack a obs_bias message |
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| 28 | * @param system_id ID of this system |
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| 29 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 30 | * @param msg The MAVLink message to compress the data into |
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| 31 | * |
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| 32 | * @param accBias accelerometer bias |
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| 33 | * @param gyroBias gyroscope bias |
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| 34 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 35 | */ |
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| 36 | static inline uint16_t mavlink_msg_obs_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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| 37 | const float *accBias, const float *gyroBias) |
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| 38 | { |
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| 39 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 40 | char buf[24]; |
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| 41 | |||
| 42 | _mav_put_float_array(buf, 0, accBias, 3); |
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| 43 | _mav_put_float_array(buf, 12, gyroBias, 3); |
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| 44 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); |
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| 45 | #else |
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| 46 | mavlink_obs_bias_t packet; |
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| 47 | |||
| 48 | mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); |
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| 49 | mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); |
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| 50 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); |
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| 51 | #endif |
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| 52 | |||
| 53 | msg->msgid = MAVLINK_MSG_ID_OBS_BIAS; |
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| 54 | return mavlink_finalize_message(msg, system_id, component_id, 24, 159); |
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| 55 | } |
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| 56 | |||
| 57 | /** |
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| 58 | * @brief Pack a obs_bias message on a channel |
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| 59 | * @param system_id ID of this system |
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| 60 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 61 | * @param chan The MAVLink channel this message was sent over |
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| 62 | * @param msg The MAVLink message to compress the data into |
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| 63 | * @param accBias accelerometer bias |
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| 64 | * @param gyroBias gyroscope bias |
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| 65 | * @return length of the message in bytes (excluding serial stream start sign) |
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| 66 | */ |
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| 67 | static inline uint16_t mavlink_msg_obs_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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| 68 | mavlink_message_t* msg, |
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| 69 | const float *accBias,const float *gyroBias) |
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| 70 | { |
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| 71 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 72 | char buf[24]; |
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| 73 | |||
| 74 | _mav_put_float_array(buf, 0, accBias, 3); |
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| 75 | _mav_put_float_array(buf, 12, gyroBias, 3); |
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| 76 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); |
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| 77 | #else |
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| 78 | mavlink_obs_bias_t packet; |
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| 79 | |||
| 80 | mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); |
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| 81 | mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); |
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| 82 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); |
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| 83 | #endif |
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| 84 | |||
| 85 | msg->msgid = MAVLINK_MSG_ID_OBS_BIAS; |
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| 86 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 159); |
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| 87 | } |
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| 88 | |||
| 89 | /** |
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| 90 | * @brief Encode a obs_bias struct into a message |
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| 91 | * |
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| 92 | * @param system_id ID of this system |
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| 93 | * @param component_id ID of this component (e.g. 200 for IMU) |
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| 94 | * @param msg The MAVLink message to compress the data into |
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| 95 | * @param obs_bias C-struct to read the message contents from |
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| 96 | */ |
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| 97 | static inline uint16_t mavlink_msg_obs_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_bias_t* obs_bias) |
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| 98 | { |
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| 99 | return mavlink_msg_obs_bias_pack(system_id, component_id, msg, obs_bias->accBias, obs_bias->gyroBias); |
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| 100 | } |
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| 101 | |||
| 102 | /** |
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| 103 | * @brief Send a obs_bias message |
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| 104 | * @param chan MAVLink channel to send the message |
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| 105 | * |
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| 106 | * @param accBias accelerometer bias |
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| 107 | * @param gyroBias gyroscope bias |
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| 108 | */ |
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| 109 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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| 110 | |||
| 111 | static inline void mavlink_msg_obs_bias_send(mavlink_channel_t chan, const float *accBias, const float *gyroBias) |
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| 112 | { |
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| 113 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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| 114 | char buf[24]; |
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| 115 | |||
| 116 | _mav_put_float_array(buf, 0, accBias, 3); |
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| 117 | _mav_put_float_array(buf, 12, gyroBias, 3); |
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| 118 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, 24, 159); |
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| 119 | #else |
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| 120 | mavlink_obs_bias_t packet; |
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| 121 | |||
| 122 | mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); |
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| 123 | mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); |
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| 124 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)&packet, 24, 159); |
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| 125 | #endif |
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| 126 | } |
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| 127 | |||
| 128 | #endif |
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| 129 | |||
| 130 | // MESSAGE OBS_BIAS UNPACKING |
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| 131 | |||
| 132 | |||
| 133 | /** |
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| 134 | * @brief Get field accBias from obs_bias message |
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| 135 | * |
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| 136 | * @return accelerometer bias |
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| 137 | */ |
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| 138 | static inline uint16_t mavlink_msg_obs_bias_get_accBias(const mavlink_message_t* msg, float *accBias) |
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| 139 | { |
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| 140 | return _MAV_RETURN_float_array(msg, accBias, 3, 0); |
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| 141 | } |
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| 142 | |||
| 143 | /** |
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| 144 | * @brief Get field gyroBias from obs_bias message |
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| 145 | * |
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| 146 | * @return gyroscope bias |
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| 147 | */ |
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| 148 | static inline uint16_t mavlink_msg_obs_bias_get_gyroBias(const mavlink_message_t* msg, float *gyroBias) |
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| 149 | { |
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| 150 | return _MAV_RETURN_float_array(msg, gyroBias, 3, 12); |
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| 151 | } |
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| 152 | |||
| 153 | /** |
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| 154 | * @brief Decode a obs_bias message into a struct |
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| 155 | * |
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| 156 | * @param msg The message to decode |
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| 157 | * @param obs_bias C-struct to decode the message contents into |
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| 158 | */ |
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| 159 | static inline void mavlink_msg_obs_bias_decode(const mavlink_message_t* msg, mavlink_obs_bias_t* obs_bias) |
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| 160 | { |
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| 161 | #if MAVLINK_NEED_BYTE_SWAP |
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| 162 | mavlink_msg_obs_bias_get_accBias(msg, obs_bias->accBias); |
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| 163 | mavlink_msg_obs_bias_get_gyroBias(msg, obs_bias->gyroBias); |
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| 164 | #else |
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| 165 | memcpy(obs_bias, _MAV_PAYLOAD(msg), 24); |
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| 166 | #endif |
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| 167 | } |