429 lines
16 KiB
C
429 lines
16 KiB
C
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#pragma once
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// MESSAGE AHRS PACKING
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#define MAVLINK_MSG_ID_AHRS 163
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typedef struct __mavlink_ahrs_t {
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float omegaIx; /*< [rad/s] X gyro drift estimate.*/
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float omegaIy; /*< [rad/s] Y gyro drift estimate.*/
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float omegaIz; /*< [rad/s] Z gyro drift estimate.*/
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float accel_weight; /*< Average accel_weight.*/
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float renorm_val; /*< Average renormalisation value.*/
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float error_rp; /*< Average error_roll_pitch value.*/
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float error_yaw; /*< Average error_yaw value.*/
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} mavlink_ahrs_t;
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#define MAVLINK_MSG_ID_AHRS_LEN 28
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#define MAVLINK_MSG_ID_AHRS_MIN_LEN 28
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#define MAVLINK_MSG_ID_163_LEN 28
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#define MAVLINK_MSG_ID_163_MIN_LEN 28
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#define MAVLINK_MSG_ID_AHRS_CRC 127
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#define MAVLINK_MSG_ID_163_CRC 127
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_AHRS { \
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163, \
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"AHRS", \
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7, \
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{ { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
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{ "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
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{ "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
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{ "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
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{ "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
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{ "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
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{ "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_AHRS { \
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"AHRS", \
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7, \
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{ { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
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{ "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
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{ "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
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{ "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
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{ "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
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{ "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
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{ "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a ahrs message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param omegaIx [rad/s] X gyro drift estimate.
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* @param omegaIy [rad/s] Y gyro drift estimate.
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* @param omegaIz [rad/s] Z gyro drift estimate.
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* @param accel_weight Average accel_weight.
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* @param renorm_val Average renormalisation value.
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* @param error_rp Average error_roll_pitch value.
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* @param error_yaw Average error_yaw value.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_AHRS_LEN];
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_mav_put_float(buf, 0, omegaIx);
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_mav_put_float(buf, 4, omegaIy);
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_mav_put_float(buf, 8, omegaIz);
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_mav_put_float(buf, 12, accel_weight);
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_mav_put_float(buf, 16, renorm_val);
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_mav_put_float(buf, 20, error_rp);
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_mav_put_float(buf, 24, error_yaw);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
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#else
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mavlink_ahrs_t packet;
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packet.omegaIx = omegaIx;
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packet.omegaIy = omegaIy;
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packet.omegaIz = omegaIz;
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packet.accel_weight = accel_weight;
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packet.renorm_val = renorm_val;
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packet.error_rp = error_rp;
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packet.error_yaw = error_yaw;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AHRS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
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}
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/**
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* @brief Pack a ahrs message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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*
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* @param omegaIx [rad/s] X gyro drift estimate.
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* @param omegaIy [rad/s] Y gyro drift estimate.
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* @param omegaIz [rad/s] Z gyro drift estimate.
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* @param accel_weight Average accel_weight.
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* @param renorm_val Average renormalisation value.
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* @param error_rp Average error_roll_pitch value.
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* @param error_yaw Average error_yaw value.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_ahrs_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
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float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_AHRS_LEN];
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_mav_put_float(buf, 0, omegaIx);
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_mav_put_float(buf, 4, omegaIy);
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_mav_put_float(buf, 8, omegaIz);
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_mav_put_float(buf, 12, accel_weight);
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_mav_put_float(buf, 16, renorm_val);
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_mav_put_float(buf, 20, error_rp);
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_mav_put_float(buf, 24, error_yaw);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
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#else
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mavlink_ahrs_t packet;
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packet.omegaIx = omegaIx;
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packet.omegaIy = omegaIy;
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packet.omegaIz = omegaIz;
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packet.accel_weight = accel_weight;
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packet.renorm_val = renorm_val;
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packet.error_rp = error_rp;
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packet.error_yaw = error_yaw;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AHRS;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
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#else
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN);
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#endif
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}
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/**
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* @brief Pack a ahrs message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param omegaIx [rad/s] X gyro drift estimate.
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* @param omegaIy [rad/s] Y gyro drift estimate.
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* @param omegaIz [rad/s] Z gyro drift estimate.
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* @param accel_weight Average accel_weight.
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* @param renorm_val Average renormalisation value.
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* @param error_rp Average error_roll_pitch value.
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* @param error_yaw Average error_yaw value.
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_AHRS_LEN];
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_mav_put_float(buf, 0, omegaIx);
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_mav_put_float(buf, 4, omegaIy);
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_mav_put_float(buf, 8, omegaIz);
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_mav_put_float(buf, 12, accel_weight);
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_mav_put_float(buf, 16, renorm_val);
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_mav_put_float(buf, 20, error_rp);
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_mav_put_float(buf, 24, error_yaw);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
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#else
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mavlink_ahrs_t packet;
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packet.omegaIx = omegaIx;
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packet.omegaIy = omegaIy;
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packet.omegaIz = omegaIz;
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packet.accel_weight = accel_weight;
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packet.renorm_val = renorm_val;
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packet.error_rp = error_rp;
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packet.error_yaw = error_yaw;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AHRS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
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}
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/**
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* @brief Encode a ahrs struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param ahrs C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
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{
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return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
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}
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/**
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* @brief Encode a ahrs struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param ahrs C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ahrs_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
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{
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return mavlink_msg_ahrs_pack_chan(system_id, component_id, chan, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
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}
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/**
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* @brief Encode a ahrs struct with provided status structure
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param status MAVLink status structure
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* @param msg The MAVLink message to compress the data into
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* @param ahrs C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ahrs_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
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{
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return mavlink_msg_ahrs_pack_status(system_id, component_id, _status, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
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}
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/**
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* @brief Send a ahrs message
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* @param chan MAVLink channel to send the message
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*
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* @param omegaIx [rad/s] X gyro drift estimate.
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* @param omegaIy [rad/s] Y gyro drift estimate.
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* @param omegaIz [rad/s] Z gyro drift estimate.
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* @param accel_weight Average accel_weight.
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* @param renorm_val Average renormalisation value.
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* @param error_rp Average error_roll_pitch value.
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* @param error_yaw Average error_yaw value.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_AHRS_LEN];
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_mav_put_float(buf, 0, omegaIx);
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_mav_put_float(buf, 4, omegaIy);
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_mav_put_float(buf, 8, omegaIz);
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_mav_put_float(buf, 12, accel_weight);
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_mav_put_float(buf, 16, renorm_val);
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_mav_put_float(buf, 20, error_rp);
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_mav_put_float(buf, 24, error_yaw);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
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#else
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mavlink_ahrs_t packet;
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packet.omegaIx = omegaIx;
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packet.omegaIy = omegaIy;
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packet.omegaIz = omegaIz;
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packet.accel_weight = accel_weight;
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packet.renorm_val = renorm_val;
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packet.error_rp = error_rp;
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packet.error_yaw = error_yaw;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
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#endif
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}
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/**
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* @brief Send a ahrs message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_ahrs_send_struct(mavlink_channel_t chan, const mavlink_ahrs_t* ahrs)
|
||
|
|
{
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||
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|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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||
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|
mavlink_msg_ahrs_send(chan, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
|
||
|
|
#else
|
||
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)ahrs, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
|
||
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#endif
|
||
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|
}
|
||
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||
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#if MAVLINK_MSG_ID_AHRS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
||
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|
/*
|
||
|
|
This variant of _send() can be used to save stack space by re-using
|
||
|
|
memory from the receive buffer. The caller provides a
|
||
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
||
|
|
is usually the receive buffer for the channel, and allows a reply to an
|
||
|
|
incoming message with minimum stack space usage.
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_ahrs_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_float(buf, 0, omegaIx);
|
||
|
|
_mav_put_float(buf, 4, omegaIy);
|
||
|
|
_mav_put_float(buf, 8, omegaIz);
|
||
|
|
_mav_put_float(buf, 12, accel_weight);
|
||
|
|
_mav_put_float(buf, 16, renorm_val);
|
||
|
|
_mav_put_float(buf, 20, error_rp);
|
||
|
|
_mav_put_float(buf, 24, error_yaw);
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_ahrs_t *packet = (mavlink_ahrs_t *)msgbuf;
|
||
|
|
packet->omegaIx = omegaIx;
|
||
|
|
packet->omegaIy = omegaIy;
|
||
|
|
packet->omegaIz = omegaIz;
|
||
|
|
packet->accel_weight = accel_weight;
|
||
|
|
packet->renorm_val = renorm_val;
|
||
|
|
packet->error_rp = error_rp;
|
||
|
|
packet->error_yaw = error_yaw;
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)packet, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE AHRS UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field omegaIx from ahrs message
|
||
|
|
*
|
||
|
|
* @return [rad/s] X gyro drift estimate.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_ahrs_get_omegaIx(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field omegaIy from ahrs message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Y gyro drift estimate.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_ahrs_get_omegaIy(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field omegaIz from ahrs message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Z gyro drift estimate.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_ahrs_get_omegaIz(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field accel_weight from ahrs message
|
||
|
|
*
|
||
|
|
* @return Average accel_weight.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_ahrs_get_accel_weight(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 12);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field renorm_val from ahrs message
|
||
|
|
*
|
||
|
|
* @return Average renormalisation value.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_ahrs_get_renorm_val(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 16);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field error_rp from ahrs message
|
||
|
|
*
|
||
|
|
* @return Average error_roll_pitch value.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_ahrs_get_error_rp(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 20);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field error_yaw from ahrs message
|
||
|
|
*
|
||
|
|
* @return Average error_yaw value.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_ahrs_get_error_yaw(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 24);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a ahrs message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param ahrs C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg);
|
||
|
|
ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg);
|
||
|
|
ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg);
|
||
|
|
ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg);
|
||
|
|
ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg);
|
||
|
|
ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
|
||
|
|
ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_AHRS_LEN? msg->len : MAVLINK_MSG_ID_AHRS_LEN;
|
||
|
|
memset(ahrs, 0, MAVLINK_MSG_ID_AHRS_LEN);
|
||
|
|
memcpy(ahrs, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|