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// MESSAGE RAW_IMU PACKING
#define MAVLINK_MSG_ID_RAW_IMU 27
typedef struct __mavlink_raw_imu_t
{
uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
int16_t xacc; ///< X acceleration (raw)
int16_t yacc; ///< Y acceleration (raw)
int16_t zacc; ///< Z acceleration (raw)
int16_t xgyro; ///< Angular speed around X axis (raw)
int16_t ygyro; ///< Angular speed around Y axis (raw)
int16_t zgyro; ///< Angular speed around Z axis (raw)
int16_t xmag; ///< X Magnetic field (raw)
int16_t ymag; ///< Y Magnetic field (raw)
int16_t zmag; ///< Z Magnetic field (raw)
} mavlink_raw_imu_t;
#define MAVLINK_MSG_ID_RAW_IMU_LEN 26
#define MAVLINK_MSG_ID_27_LEN 26
#define MAVLINK_MESSAGE_INFO_RAW_IMU { \
"RAW_IMU", \
10, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
} \
}
/**
* @brief Pack a raw_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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param xacc X acceleration (raw)
* @param yacc Y acceleration (raw)
* @param zacc Z acceleration (raw)
* @param xgyro Angular speed around X axis (raw)
* @param ygyro Angular speed around Y axis (raw)
* @param zgyro Angular speed around Z axis (raw)
* @param xmag X Magnetic field (raw)
* @param ymag Y Magnetic field (raw)
* @param zmag Z Magnetic field (raw)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_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, time_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);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
#else
mavlink_raw_imu_t packet;
packet.time_usec = time_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;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
#endif
msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
return mavlink_finalize_message(msg, system_id, component_id, 26, 144);
}
/**
* @brief Pack a raw_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 time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param xacc X acceleration (raw)
* @param yacc Y acceleration (raw)
* @param zacc Z acceleration (raw)
* @param xgyro Angular speed around X axis (raw)
* @param ygyro Angular speed around Y axis (raw)
* @param zgyro Angular speed around Z axis (raw)
* @param xmag X Magnetic field (raw)
* @param ymag Y Magnetic field (raw)
* @param zmag Z Magnetic field (raw)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_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, time_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);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
#else
mavlink_raw_imu_t packet;
packet.time_usec = time_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;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
#endif
msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 144);
}
/**
* @brief Encode a raw_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 raw_imu C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
{
return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
}
/**
* @brief Send a raw_imu message
* @param chan MAVLink channel to send the message
*
* @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param xacc X acceleration (raw)
* @param yacc Y acceleration (raw)
* @param zacc Z acceleration (raw)
* @param xgyro Angular speed around X axis (raw)
* @param ygyro Angular speed around Y axis (raw)
* @param zgyro Angular speed around Z axis (raw)
* @param xmag X Magnetic field (raw)
* @param ymag Y Magnetic field (raw)
* @param zmag Z Magnetic field (raw)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t time_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, time_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);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, 26, 144);
#else
mavlink_raw_imu_t packet;
packet.time_usec = time_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;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, 26, 144);
#endif
}
#endif
// MESSAGE RAW_IMU UNPACKING
/**
* @brief Get field time_usec from raw_imu message
*
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
*/
static inline uint64_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field xacc from raw_imu message
*
* @return X acceleration (raw)
*/
static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 8);
}
/**
* @brief Get field yacc from raw_imu message
*
* @return Y acceleration (raw)
*/
static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 10);
}
/**
* @brief Get field zacc from raw_imu message
*
* @return Z acceleration (raw)
*/
static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
}
/**
* @brief Get field xgyro from raw_imu message
*
* @return Angular speed around X axis (raw)
*/
static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 14);
}
/**
* @brief Get field ygyro from raw_imu message
*
* @return Angular speed around Y axis (raw)
*/
static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 16);
}
/**
* @brief Get field zgyro from raw_imu message
*
* @return Angular speed around Z axis (raw)
*/
static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 18);
}
/**
* @brief Get field xmag from raw_imu message
*
* @return X Magnetic field (raw)
*/
static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 20);
}
/**
* @brief Get field ymag from raw_imu message
*
* @return Y Magnetic field (raw)
*/
static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 22);
}
/**
* @brief Get field zmag from raw_imu message
*
* @return Z Magnetic field (raw)
*/
static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 24);
}
/**
* @brief Decode a raw_imu message into a struct
*
* @param msg The message to decode
* @param raw_imu C-struct to decode the message contents into
*/
static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu)
{
#if MAVLINK_NEED_BYTE_SWAP
raw_imu->time_usec = mavlink_msg_raw_imu_get_time_usec(msg);
raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg);
raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg);
raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg);
raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg);
raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg);
raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg);
raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg);
raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg);
raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg);
#else
memcpy(raw_imu, _MAV_PAYLOAD(msg), 26);
#endif
}