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// MESSAGE ATTITUDE PACKING |
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#define MAVLINK_MSG_ID_ATTITUDE 30 |
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typedef struct __mavlink_attitude_t |
{ |
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
float roll; ///< Roll angle (rad) |
float pitch; ///< Pitch angle (rad) |
float yaw; ///< Yaw angle (rad) |
float rollspeed; ///< Roll angular speed (rad/s) |
float pitchspeed; ///< Pitch angular speed (rad/s) |
float yawspeed; ///< Yaw angular speed (rad/s) |
} mavlink_attitude_t; |
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#define MAVLINK_MSG_ID_ATTITUDE_LEN 32 |
#define MAVLINK_MSG_ID_30_LEN 32 |
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#define MAVLINK_MESSAGE_INFO_ATTITUDE { \ |
"ATTITUDE", \ |
7, \ |
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_attitude_t, usec) }, \ |
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, roll) }, \ |
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, pitch) }, \ |
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, yaw) }, \ |
{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, rollspeed) }, \ |
{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, pitchspeed) }, \ |
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_t, yawspeed) }, \ |
} \ |
} |
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/** |
* @brief Pack a attitude message |
* @param system_id ID of this system |
* @param component_id ID of this component (e.g. 200 for IMU) |
* @param msg The MAVLink message to compress the data into |
* |
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
* @param roll Roll angle (rad) |
* @param pitch Pitch angle (rad) |
* @param yaw Yaw angle (rad) |
* @param rollspeed Roll angular speed (rad/s) |
* @param pitchspeed Pitch angular speed (rad/s) |
* @param yawspeed Yaw angular speed (rad/s) |
* @return length of the message in bytes (excluding serial stream start sign) |
*/ |
static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[32]; |
_mav_put_uint64_t(buf, 0, usec); |
_mav_put_float(buf, 8, roll); |
_mav_put_float(buf, 12, pitch); |
_mav_put_float(buf, 16, yaw); |
_mav_put_float(buf, 20, rollspeed); |
_mav_put_float(buf, 24, pitchspeed); |
_mav_put_float(buf, 28, yawspeed); |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); |
#else |
mavlink_attitude_t packet; |
packet.usec = usec; |
packet.roll = roll; |
packet.pitch = pitch; |
packet.yaw = yaw; |
packet.rollspeed = rollspeed; |
packet.pitchspeed = pitchspeed; |
packet.yawspeed = yawspeed; |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); |
#endif |
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE; |
return mavlink_finalize_message(msg, system_id, component_id, 32); |
} |
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/** |
* @brief Pack a attitude message on a channel |
* @param system_id ID of this system |
* @param component_id ID of this component (e.g. 200 for IMU) |
* @param chan The MAVLink channel this message was sent over |
* @param msg The MAVLink message to compress the data into |
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
* @param roll Roll angle (rad) |
* @param pitch Pitch angle (rad) |
* @param yaw Yaw angle (rad) |
* @param rollspeed Roll angular speed (rad/s) |
* @param pitchspeed Pitch angular speed (rad/s) |
* @param yawspeed Yaw angular speed (rad/s) |
* @return length of the message in bytes (excluding serial stream start sign) |
*/ |
static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
mavlink_message_t* msg, |
uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[32]; |
_mav_put_uint64_t(buf, 0, usec); |
_mav_put_float(buf, 8, roll); |
_mav_put_float(buf, 12, pitch); |
_mav_put_float(buf, 16, yaw); |
_mav_put_float(buf, 20, rollspeed); |
_mav_put_float(buf, 24, pitchspeed); |
_mav_put_float(buf, 28, yawspeed); |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); |
#else |
mavlink_attitude_t packet; |
packet.usec = usec; |
packet.roll = roll; |
packet.pitch = pitch; |
packet.yaw = yaw; |
packet.rollspeed = rollspeed; |
packet.pitchspeed = pitchspeed; |
packet.yawspeed = yawspeed; |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); |
#endif |
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE; |
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32); |
} |
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/** |
* @brief Encode a attitude struct into a message |
* |
* @param system_id ID of this system |
* @param component_id ID of this component (e.g. 200 for IMU) |
* @param msg The MAVLink message to compress the data into |
* @param attitude C-struct to read the message contents from |
*/ |
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) |
{ |
return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->usec, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed); |
} |
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/** |
* @brief Send a attitude message |
* @param chan MAVLink channel to send the message |
* |
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
* @param roll Roll angle (rad) |
* @param pitch Pitch angle (rad) |
* @param yaw Yaw angle (rad) |
* @param rollspeed Roll angular speed (rad/s) |
* @param pitchspeed Pitch angular speed (rad/s) |
* @param yawspeed Yaw angular speed (rad/s) |
*/ |
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[32]; |
_mav_put_uint64_t(buf, 0, usec); |
_mav_put_float(buf, 8, roll); |
_mav_put_float(buf, 12, pitch); |
_mav_put_float(buf, 16, yaw); |
_mav_put_float(buf, 20, rollspeed); |
_mav_put_float(buf, 24, pitchspeed); |
_mav_put_float(buf, 28, yawspeed); |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, 32); |
#else |
mavlink_attitude_t packet; |
packet.usec = usec; |
packet.roll = roll; |
packet.pitch = pitch; |
packet.yaw = yaw; |
packet.rollspeed = rollspeed; |
packet.pitchspeed = pitchspeed; |
packet.yawspeed = yawspeed; |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 32); |
#endif |
} |
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#endif |
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// MESSAGE ATTITUDE UNPACKING |
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/** |
* @brief Get field usec from attitude message |
* |
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
*/ |
static inline uint64_t mavlink_msg_attitude_get_usec(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_uint64_t(msg, 0); |
} |
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/** |
* @brief Get field roll from attitude message |
* |
* @return Roll angle (rad) |
*/ |
static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 8); |
} |
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/** |
* @brief Get field pitch from attitude message |
* |
* @return Pitch angle (rad) |
*/ |
static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 12); |
} |
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/** |
* @brief Get field yaw from attitude message |
* |
* @return Yaw angle (rad) |
*/ |
static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 16); |
} |
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/** |
* @brief Get field rollspeed from attitude message |
* |
* @return Roll angular speed (rad/s) |
*/ |
static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 20); |
} |
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/** |
* @brief Get field pitchspeed from attitude message |
* |
* @return Pitch angular speed (rad/s) |
*/ |
static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 24); |
} |
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/** |
* @brief Get field yawspeed from attitude message |
* |
* @return Yaw angular speed (rad/s) |
*/ |
static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_float(msg, 28); |
} |
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/** |
* @brief Decode a attitude message into a struct |
* |
* @param msg The message to decode |
* @param attitude C-struct to decode the message contents into |
*/ |
static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude) |
{ |
#if MAVLINK_NEED_BYTE_SWAP |
attitude->usec = mavlink_msg_attitude_get_usec(msg); |
attitude->roll = mavlink_msg_attitude_get_roll(msg); |
attitude->pitch = mavlink_msg_attitude_get_pitch(msg); |
attitude->yaw = mavlink_msg_attitude_get_yaw(msg); |
attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg); |
attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg); |
attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg); |
#else |
memcpy(attitude, _MAV_PAYLOAD(msg), 32); |
#endif |
} |