| 0,0 → 1,474 |
|---|
| // MESSAGE HIL_STATE PACKING |
| |
| #define MAVLINK_MSG_ID_HIL_STATE 90 |
| |
| typedef struct __mavlink_hil_state_t |
| { |
| uint64_t time_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) |
| int32_t lat; ///< Latitude, expressed as * 1E7 |
| int32_t lon; ///< Longitude, expressed as * 1E7 |
| int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) |
| int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 |
| int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 |
| int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 |
| int16_t xacc; ///< X acceleration (mg) |
| int16_t yacc; ///< Y acceleration (mg) |
| int16_t zacc; ///< Z acceleration (mg) |
| } mavlink_hil_state_t; |
| |
| #define MAVLINK_MSG_ID_HIL_STATE_LEN 56 |
| #define MAVLINK_MSG_ID_90_LEN 56 |
| |
| |
| |
| #define MAVLINK_MESSAGE_INFO_HIL_STATE { \ |
| "HIL_STATE", \ |
| 16, \ |
| { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \ |
| { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \ |
| { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \ |
| { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \ |
| { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \ |
| { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \ |
| { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \ |
| { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \ |
| { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \ |
| { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \ |
| { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \ |
| { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \ |
| { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \ |
| { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \ |
| { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \ |
| { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \ |
| } \ |
| } |
| |
| |
| /** |
| * @brief Pack a hil_state 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 time_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) |
| * @param lat Latitude, expressed as * 1E7 |
| * @param lon Longitude, expressed as * 1E7 |
| * @param alt Altitude in meters, expressed as * 1000 (millimeters) |
| * @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
| * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
| * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
| * @param xacc X acceleration (mg) |
| * @param yacc Y acceleration (mg) |
| * @param zacc Z acceleration (mg) |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
| uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[56]; |
| _mav_put_uint64_t(buf, 0, time_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_put_int32_t(buf, 32, lat); |
| _mav_put_int32_t(buf, 36, lon); |
| _mav_put_int32_t(buf, 40, alt); |
| _mav_put_int16_t(buf, 44, vx); |
| _mav_put_int16_t(buf, 46, vy); |
| _mav_put_int16_t(buf, 48, vz); |
| _mav_put_int16_t(buf, 50, xacc); |
| _mav_put_int16_t(buf, 52, yacc); |
| _mav_put_int16_t(buf, 54, zacc); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 56); |
| #else |
| mavlink_hil_state_t packet; |
| packet.time_usec = time_usec; |
| packet.roll = roll; |
| packet.pitch = pitch; |
| packet.yaw = yaw; |
| packet.rollspeed = rollspeed; |
| packet.pitchspeed = pitchspeed; |
| packet.yawspeed = yawspeed; |
| packet.lat = lat; |
| packet.lon = lon; |
| packet.alt = alt; |
| packet.vx = vx; |
| packet.vy = vy; |
| packet.vz = vz; |
| packet.xacc = xacc; |
| packet.yacc = yacc; |
| packet.zacc = zacc; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 56); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_HIL_STATE; |
| return mavlink_finalize_message(msg, system_id, component_id, 56, 183); |
| } |
| |
| /** |
| * @brief Pack a hil_state 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 time_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) |
| * @param lat Latitude, expressed as * 1E7 |
| * @param lon Longitude, expressed as * 1E7 |
| * @param alt Altitude in meters, expressed as * 1000 (millimeters) |
| * @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
| * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
| * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
| * @param xacc X acceleration (mg) |
| * @param yacc Y acceleration (mg) |
| * @param zacc Z acceleration (mg) |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
| mavlink_message_t* msg, |
| uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[56]; |
| _mav_put_uint64_t(buf, 0, time_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_put_int32_t(buf, 32, lat); |
| _mav_put_int32_t(buf, 36, lon); |
| _mav_put_int32_t(buf, 40, alt); |
| _mav_put_int16_t(buf, 44, vx); |
| _mav_put_int16_t(buf, 46, vy); |
| _mav_put_int16_t(buf, 48, vz); |
| _mav_put_int16_t(buf, 50, xacc); |
| _mav_put_int16_t(buf, 52, yacc); |
| _mav_put_int16_t(buf, 54, zacc); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 56); |
| #else |
| mavlink_hil_state_t packet; |
| packet.time_usec = time_usec; |
| packet.roll = roll; |
| packet.pitch = pitch; |
| packet.yaw = yaw; |
| packet.rollspeed = rollspeed; |
| packet.pitchspeed = pitchspeed; |
| packet.yawspeed = yawspeed; |
| packet.lat = lat; |
| packet.lon = lon; |
| packet.alt = alt; |
| packet.vx = vx; |
| packet.vy = vy; |
| packet.vz = vz; |
| packet.xacc = xacc; |
| packet.yacc = yacc; |
| packet.zacc = zacc; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 56); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_HIL_STATE; |
| return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56, 183); |
| } |
| |
| /** |
| * @brief Encode a hil_state 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 hil_state C-struct to read the message contents from |
| */ |
| static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state) |
| { |
| return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc); |
| } |
| |
| /** |
| * @brief Send a hil_state message |
| * @param chan MAVLink channel to send the message |
| * |
| * @param time_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) |
| * @param lat Latitude, expressed as * 1E7 |
| * @param lon Longitude, expressed as * 1E7 |
| * @param alt Altitude in meters, expressed as * 1000 (millimeters) |
| * @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
| * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
| * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
| * @param xacc X acceleration (mg) |
| * @param yacc Y acceleration (mg) |
| * @param zacc Z acceleration (mg) |
| */ |
| #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
| |
| static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[56]; |
| _mav_put_uint64_t(buf, 0, time_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_put_int32_t(buf, 32, lat); |
| _mav_put_int32_t(buf, 36, lon); |
| _mav_put_int32_t(buf, 40, alt); |
| _mav_put_int16_t(buf, 44, vx); |
| _mav_put_int16_t(buf, 46, vy); |
| _mav_put_int16_t(buf, 48, vz); |
| _mav_put_int16_t(buf, 50, xacc); |
| _mav_put_int16_t(buf, 52, yacc); |
| _mav_put_int16_t(buf, 54, zacc); |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56, 183); |
| #else |
| mavlink_hil_state_t packet; |
| packet.time_usec = time_usec; |
| packet.roll = roll; |
| packet.pitch = pitch; |
| packet.yaw = yaw; |
| packet.rollspeed = rollspeed; |
| packet.pitchspeed = pitchspeed; |
| packet.yawspeed = yawspeed; |
| packet.lat = lat; |
| packet.lon = lon; |
| packet.alt = alt; |
| packet.vx = vx; |
| packet.vy = vy; |
| packet.vz = vz; |
| packet.xacc = xacc; |
| packet.yacc = yacc; |
| packet.zacc = zacc; |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56, 183); |
| #endif |
| } |
| |
| #endif |
| |
| // MESSAGE HIL_STATE UNPACKING |
| |
| |
| /** |
| * @brief Get field time_usec from hil_state message |
| * |
| * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
| */ |
| static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint64_t(msg, 0); |
| } |
| |
| /** |
| * @brief Get field roll from hil_state message |
| * |
| * @return Roll angle (rad) |
| */ |
| static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 8); |
| } |
| |
| /** |
| * @brief Get field pitch from hil_state message |
| * |
| * @return Pitch angle (rad) |
| */ |
| static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 12); |
| } |
| |
| /** |
| * @brief Get field yaw from hil_state message |
| * |
| * @return Yaw angle (rad) |
| */ |
| static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 16); |
| } |
| |
| /** |
| * @brief Get field rollspeed from hil_state message |
| * |
| * @return Roll angular speed (rad/s) |
| */ |
| static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 20); |
| } |
| |
| /** |
| * @brief Get field pitchspeed from hil_state message |
| * |
| * @return Pitch angular speed (rad/s) |
| */ |
| static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 24); |
| } |
| |
| /** |
| * @brief Get field yawspeed from hil_state message |
| * |
| * @return Yaw angular speed (rad/s) |
| */ |
| static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 28); |
| } |
| |
| /** |
| * @brief Get field lat from hil_state message |
| * |
| * @return Latitude, expressed as * 1E7 |
| */ |
| static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int32_t(msg, 32); |
| } |
| |
| /** |
| * @brief Get field lon from hil_state message |
| * |
| * @return Longitude, expressed as * 1E7 |
| */ |
| static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int32_t(msg, 36); |
| } |
| |
| /** |
| * @brief Get field alt from hil_state message |
| * |
| * @return Altitude in meters, expressed as * 1000 (millimeters) |
| */ |
| static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int32_t(msg, 40); |
| } |
| |
| /** |
| * @brief Get field vx from hil_state message |
| * |
| * @return Ground X Speed (Latitude), expressed as m/s * 100 |
| */ |
| static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int16_t(msg, 44); |
| } |
| |
| /** |
| * @brief Get field vy from hil_state message |
| * |
| * @return Ground Y Speed (Longitude), expressed as m/s * 100 |
| */ |
| static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int16_t(msg, 46); |
| } |
| |
| /** |
| * @brief Get field vz from hil_state message |
| * |
| * @return Ground Z Speed (Altitude), expressed as m/s * 100 |
| */ |
| static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int16_t(msg, 48); |
| } |
| |
| /** |
| * @brief Get field xacc from hil_state message |
| * |
| * @return X acceleration (mg) |
| */ |
| static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int16_t(msg, 50); |
| } |
| |
| /** |
| * @brief Get field yacc from hil_state message |
| * |
| * @return Y acceleration (mg) |
| */ |
| static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int16_t(msg, 52); |
| } |
| |
| /** |
| * @brief Get field zacc from hil_state message |
| * |
| * @return Z acceleration (mg) |
| */ |
| static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_int16_t(msg, 54); |
| } |
| |
| /** |
| * @brief Decode a hil_state message into a struct |
| * |
| * @param msg The message to decode |
| * @param hil_state C-struct to decode the message contents into |
| */ |
| static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP |
| hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg); |
| hil_state->roll = mavlink_msg_hil_state_get_roll(msg); |
| hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg); |
| hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg); |
| hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg); |
| hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg); |
| hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg); |
| hil_state->lat = mavlink_msg_hil_state_get_lat(msg); |
| hil_state->lon = mavlink_msg_hil_state_get_lon(msg); |
| hil_state->alt = mavlink_msg_hil_state_get_alt(msg); |
| hil_state->vx = mavlink_msg_hil_state_get_vx(msg); |
| hil_state->vy = mavlink_msg_hil_state_get_vy(msg); |
| hil_state->vz = mavlink_msg_hil_state_get_vz(msg); |
| hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg); |
| hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg); |
| hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg); |
| #else |
| memcpy(hil_state, _MAV_PAYLOAD(msg), 56); |
| #endif |
| } |