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| // MESSAGE ATTITUDE PACKING |
| |
| #define MAVLINK_MSG_ID_ATTITUDE 30 |
| |
| 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; |
| |
| #define MAVLINK_MSG_ID_ATTITUDE_LEN 32 |
| #define MAVLINK_MSG_ID_30_LEN 32 |
| |
| |
| |
| #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) }, \ |
| } \ |
| } |
| |
| |
| /** |
| * @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); |
| |
| 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; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_ATTITUDE; |
| return mavlink_finalize_message(msg, system_id, component_id, 32); |
| } |
| |
| /** |
| * @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); |
| |
| 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; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_ATTITUDE; |
| return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32); |
| } |
| |
| /** |
| * @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); |
| } |
| |
| /** |
| * @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 |
| |
| 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); |
| |
| _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; |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 32); |
| #endif |
| } |
| |
| #endif |
| |
| // MESSAGE ATTITUDE UNPACKING |
| |
| |
| /** |
| * @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); |
| } |
| |
| /** |
| * @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); |
| } |
| |
| /** |
| * @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); |
| } |
| |
| /** |
| * @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); |
| } |
| |
| /** |
| * @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); |
| } |
| |
| /** |
| * @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); |
| } |
| |
| /** |
| * @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); |
| } |
| |
| /** |
| * @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 |
| } |