0,0 → 1,342 |
// MESSAGE SCALED_IMU PACKING |
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#define MAVLINK_MSG_ID_SCALED_IMU 26 |
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typedef struct __mavlink_scaled_imu_t |
{ |
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
int16_t xacc; ///< X acceleration (mg) |
int16_t yacc; ///< Y acceleration (mg) |
int16_t zacc; ///< Z acceleration (mg) |
int16_t xgyro; ///< Angular speed around X axis (millirad /sec) |
int16_t ygyro; ///< Angular speed around Y axis (millirad /sec) |
int16_t zgyro; ///< Angular speed around Z axis (millirad /sec) |
int16_t xmag; ///< X Magnetic field (milli tesla) |
int16_t ymag; ///< Y Magnetic field (milli tesla) |
int16_t zmag; ///< Z Magnetic field (milli tesla) |
} mavlink_scaled_imu_t; |
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#define MAVLINK_MSG_ID_SCALED_IMU_LEN 26 |
#define MAVLINK_MSG_ID_26_LEN 26 |
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#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \ |
"SCALED_IMU", \ |
10, \ |
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_scaled_imu_t, usec) }, \ |
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, xacc) }, \ |
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, yacc) }, \ |
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, zacc) }, \ |
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, xgyro) }, \ |
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, ygyro) }, \ |
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, zgyro) }, \ |
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, xmag) }, \ |
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_scaled_imu_t, ymag) }, \ |
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_scaled_imu_t, zmag) }, \ |
} \ |
} |
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/** |
* @brief Pack a scaled_imu 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 xacc X acceleration (mg) |
* @param yacc Y acceleration (mg) |
* @param zacc Z acceleration (mg) |
* @param xgyro Angular speed around X axis (millirad /sec) |
* @param ygyro Angular speed around Y axis (millirad /sec) |
* @param zgyro Angular speed around Z axis (millirad /sec) |
* @param xmag X Magnetic field (milli tesla) |
* @param ymag Y Magnetic field (milli tesla) |
* @param zmag Z Magnetic field (milli tesla) |
* @return length of the message in bytes (excluding serial stream start sign) |
*/ |
static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[26]; |
_mav_put_uint64_t(buf, 0, usec); |
_mav_put_int16_t(buf, 8, xacc); |
_mav_put_int16_t(buf, 10, yacc); |
_mav_put_int16_t(buf, 12, zacc); |
_mav_put_int16_t(buf, 14, xgyro); |
_mav_put_int16_t(buf, 16, ygyro); |
_mav_put_int16_t(buf, 18, zgyro); |
_mav_put_int16_t(buf, 20, xmag); |
_mav_put_int16_t(buf, 22, ymag); |
_mav_put_int16_t(buf, 24, zmag); |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); |
#else |
mavlink_scaled_imu_t packet; |
packet.usec = usec; |
packet.xacc = xacc; |
packet.yacc = yacc; |
packet.zacc = zacc; |
packet.xgyro = xgyro; |
packet.ygyro = ygyro; |
packet.zgyro = zgyro; |
packet.xmag = xmag; |
packet.ymag = ymag; |
packet.zmag = zmag; |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); |
#endif |
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msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; |
return mavlink_finalize_message(msg, system_id, component_id, 26); |
} |
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/** |
* @brief Pack a scaled_imu 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 xacc X acceleration (mg) |
* @param yacc Y acceleration (mg) |
* @param zacc Z acceleration (mg) |
* @param xgyro Angular speed around X axis (millirad /sec) |
* @param ygyro Angular speed around Y axis (millirad /sec) |
* @param zgyro Angular speed around Z axis (millirad /sec) |
* @param xmag X Magnetic field (milli tesla) |
* @param ymag Y Magnetic field (milli tesla) |
* @param zmag Z Magnetic field (milli tesla) |
* @return length of the message in bytes (excluding serial stream start sign) |
*/ |
static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
mavlink_message_t* msg, |
uint64_t usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[26]; |
_mav_put_uint64_t(buf, 0, usec); |
_mav_put_int16_t(buf, 8, xacc); |
_mav_put_int16_t(buf, 10, yacc); |
_mav_put_int16_t(buf, 12, zacc); |
_mav_put_int16_t(buf, 14, xgyro); |
_mav_put_int16_t(buf, 16, ygyro); |
_mav_put_int16_t(buf, 18, zgyro); |
_mav_put_int16_t(buf, 20, xmag); |
_mav_put_int16_t(buf, 22, ymag); |
_mav_put_int16_t(buf, 24, zmag); |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26); |
#else |
mavlink_scaled_imu_t packet; |
packet.usec = usec; |
packet.xacc = xacc; |
packet.yacc = yacc; |
packet.zacc = zacc; |
packet.xgyro = xgyro; |
packet.ygyro = ygyro; |
packet.zgyro = zgyro; |
packet.xmag = xmag; |
packet.ymag = ymag; |
packet.zmag = zmag; |
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26); |
#endif |
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msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; |
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26); |
} |
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/** |
* @brief Encode a scaled_imu 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 scaled_imu C-struct to read the message contents from |
*/ |
static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu) |
{ |
return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->usec, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag); |
} |
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/** |
* @brief Send a scaled_imu message |
* @param chan MAVLink channel to send the message |
* |
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
* @param xacc X acceleration (mg) |
* @param yacc Y acceleration (mg) |
* @param zacc Z acceleration (mg) |
* @param xgyro Angular speed around X axis (millirad /sec) |
* @param ygyro Angular speed around Y axis (millirad /sec) |
* @param zgyro Angular speed around Z axis (millirad /sec) |
* @param xmag X Magnetic field (milli tesla) |
* @param ymag Y Magnetic field (milli tesla) |
* @param zmag Z Magnetic field (milli tesla) |
*/ |
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint64_t usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) |
{ |
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
char buf[26]; |
_mav_put_uint64_t(buf, 0, usec); |
_mav_put_int16_t(buf, 8, xacc); |
_mav_put_int16_t(buf, 10, yacc); |
_mav_put_int16_t(buf, 12, zacc); |
_mav_put_int16_t(buf, 14, xgyro); |
_mav_put_int16_t(buf, 16, ygyro); |
_mav_put_int16_t(buf, 18, zgyro); |
_mav_put_int16_t(buf, 20, xmag); |
_mav_put_int16_t(buf, 22, ymag); |
_mav_put_int16_t(buf, 24, zmag); |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, 26); |
#else |
mavlink_scaled_imu_t packet; |
packet.usec = usec; |
packet.xacc = xacc; |
packet.yacc = yacc; |
packet.zacc = zacc; |
packet.xgyro = xgyro; |
packet.ygyro = ygyro; |
packet.zgyro = zgyro; |
packet.xmag = xmag; |
packet.ymag = ymag; |
packet.zmag = zmag; |
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, 26); |
#endif |
} |
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#endif |
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// MESSAGE SCALED_IMU UNPACKING |
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/** |
* @brief Get field usec from scaled_imu message |
* |
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
*/ |
static inline uint64_t mavlink_msg_scaled_imu_get_usec(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_uint64_t(msg, 0); |
} |
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/** |
* @brief Get field xacc from scaled_imu message |
* |
* @return X acceleration (mg) |
*/ |
static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_int16_t(msg, 8); |
} |
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/** |
* @brief Get field yacc from scaled_imu message |
* |
* @return Y acceleration (mg) |
*/ |
static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_int16_t(msg, 10); |
} |
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/** |
* @brief Get field zacc from scaled_imu message |
* |
* @return Z acceleration (mg) |
*/ |
static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_int16_t(msg, 12); |
} |
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/** |
* @brief Get field xgyro from scaled_imu message |
* |
* @return Angular speed around X axis (millirad /sec) |
*/ |
static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_int16_t(msg, 14); |
} |
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/** |
* @brief Get field ygyro from scaled_imu message |
* |
* @return Angular speed around Y axis (millirad /sec) |
*/ |
static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_int16_t(msg, 16); |
} |
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/** |
* @brief Get field zgyro from scaled_imu message |
* |
* @return Angular speed around Z axis (millirad /sec) |
*/ |
static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_int16_t(msg, 18); |
} |
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/** |
* @brief Get field xmag from scaled_imu message |
* |
* @return X Magnetic field (milli tesla) |
*/ |
static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_int16_t(msg, 20); |
} |
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/** |
* @brief Get field ymag from scaled_imu message |
* |
* @return Y Magnetic field (milli tesla) |
*/ |
static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_int16_t(msg, 22); |
} |
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/** |
* @brief Get field zmag from scaled_imu message |
* |
* @return Z Magnetic field (milli tesla) |
*/ |
static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg) |
{ |
return _MAV_RETURN_int16_t(msg, 24); |
} |
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/** |
* @brief Decode a scaled_imu message into a struct |
* |
* @param msg The message to decode |
* @param scaled_imu C-struct to decode the message contents into |
*/ |
static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu) |
{ |
#if MAVLINK_NEED_BYTE_SWAP |
scaled_imu->usec = mavlink_msg_scaled_imu_get_usec(msg); |
scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg); |
scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg); |
scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg); |
scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg); |
scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg); |
scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg); |
scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg); |
scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg); |
scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg); |
#else |
memcpy(scaled_imu, _MAV_PAYLOAD(msg), 26); |
#endif |
} |