541 lines
20 KiB
C
541 lines
20 KiB
C
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#pragma once
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// MESSAGE SIMSTATE PACKING
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#define MAVLINK_MSG_ID_SIMSTATE 164
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typedef struct __mavlink_simstate_t {
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float roll; /*< [rad] Roll angle.*/
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float pitch; /*< [rad] Pitch angle.*/
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float yaw; /*< [rad] Yaw angle.*/
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float xacc; /*< [m/s/s] X acceleration.*/
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float yacc; /*< [m/s/s] Y acceleration.*/
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float zacc; /*< [m/s/s] Z acceleration.*/
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float xgyro; /*< [rad/s] Angular speed around X axis.*/
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float ygyro; /*< [rad/s] Angular speed around Y axis.*/
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float zgyro; /*< [rad/s] Angular speed around Z axis.*/
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int32_t lat; /*< [degE7] Latitude.*/
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int32_t lng; /*< [degE7] Longitude.*/
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} mavlink_simstate_t;
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#define MAVLINK_MSG_ID_SIMSTATE_LEN 44
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#define MAVLINK_MSG_ID_SIMSTATE_MIN_LEN 44
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#define MAVLINK_MSG_ID_164_LEN 44
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#define MAVLINK_MSG_ID_164_MIN_LEN 44
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#define MAVLINK_MSG_ID_SIMSTATE_CRC 154
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#define MAVLINK_MSG_ID_164_CRC 154
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_SIMSTATE { \
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164, \
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"SIMSTATE", \
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11, \
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{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \
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{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \
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{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \
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{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \
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{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
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{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
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{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_simstate_t, lat) }, \
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{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_simstate_t, lng) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_SIMSTATE { \
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"SIMSTATE", \
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11, \
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{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \
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{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \
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{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \
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{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \
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{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
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{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
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{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_simstate_t, lat) }, \
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{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_simstate_t, lng) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a simstate 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 roll [rad] Roll angle.
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* @param pitch [rad] Pitch angle.
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* @param yaw [rad] Yaw angle.
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* @param xacc [m/s/s] X acceleration.
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* @param yacc [m/s/s] Y acceleration.
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* @param zacc [m/s/s] Z acceleration.
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* @param xgyro [rad/s] Angular speed around X axis.
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* @param ygyro [rad/s] Angular speed around Y axis.
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* @param zgyro [rad/s] Angular speed around Z axis.
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* @param lat [degE7] Latitude.
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* @param lng [degE7] Longitude.
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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_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
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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_SIMSTATE_LEN];
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_mav_put_float(buf, 0, roll);
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_mav_put_float(buf, 4, pitch);
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_mav_put_float(buf, 8, yaw);
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_mav_put_float(buf, 12, xacc);
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_mav_put_float(buf, 16, yacc);
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_mav_put_float(buf, 20, zacc);
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_mav_put_float(buf, 24, xgyro);
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_mav_put_float(buf, 28, ygyro);
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_mav_put_float(buf, 32, zgyro);
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_mav_put_int32_t(buf, 36, lat);
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_mav_put_int32_t(buf, 40, lng);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
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#else
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mavlink_simstate_t packet;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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packet.lat = lat;
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packet.lng = lng;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIMSTATE_MIN_LEN, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
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}
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/**
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* @brief Pack a simstate 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 roll [rad] Roll angle.
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* @param pitch [rad] Pitch angle.
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* @param yaw [rad] Yaw angle.
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* @param xacc [m/s/s] X acceleration.
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* @param yacc [m/s/s] Y acceleration.
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* @param zacc [m/s/s] Z acceleration.
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* @param xgyro [rad/s] Angular speed around X axis.
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* @param ygyro [rad/s] Angular speed around Y axis.
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* @param zgyro [rad/s] Angular speed around Z axis.
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* @param lat [degE7] Latitude.
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* @param lng [degE7] Longitude.
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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_simstate_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
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float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
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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_SIMSTATE_LEN];
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_mav_put_float(buf, 0, roll);
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_mav_put_float(buf, 4, pitch);
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_mav_put_float(buf, 8, yaw);
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_mav_put_float(buf, 12, xacc);
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_mav_put_float(buf, 16, yacc);
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_mav_put_float(buf, 20, zacc);
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_mav_put_float(buf, 24, xgyro);
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_mav_put_float(buf, 28, ygyro);
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_mav_put_float(buf, 32, zgyro);
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_mav_put_int32_t(buf, 36, lat);
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_mav_put_int32_t(buf, 40, lng);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
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#else
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mavlink_simstate_t packet;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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packet.lat = lat;
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packet.lng = lng;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
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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_SIMSTATE_MIN_LEN, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
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#else
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_SIMSTATE_MIN_LEN, MAVLINK_MSG_ID_SIMSTATE_LEN);
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#endif
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}
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/**
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* @brief Pack a simstate 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 roll [rad] Roll angle.
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* @param pitch [rad] Pitch angle.
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* @param yaw [rad] Yaw angle.
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* @param xacc [m/s/s] X acceleration.
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* @param yacc [m/s/s] Y acceleration.
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* @param zacc [m/s/s] Z acceleration.
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* @param xgyro [rad/s] Angular speed around X axis.
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* @param ygyro [rad/s] Angular speed around Y axis.
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* @param zgyro [rad/s] Angular speed around Z axis.
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* @param lat [degE7] Latitude.
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* @param lng [degE7] Longitude.
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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_simstate_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 roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,int32_t lat,int32_t lng)
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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_SIMSTATE_LEN];
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_mav_put_float(buf, 0, roll);
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_mav_put_float(buf, 4, pitch);
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_mav_put_float(buf, 8, yaw);
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_mav_put_float(buf, 12, xacc);
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_mav_put_float(buf, 16, yacc);
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_mav_put_float(buf, 20, zacc);
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_mav_put_float(buf, 24, xgyro);
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_mav_put_float(buf, 28, ygyro);
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_mav_put_float(buf, 32, zgyro);
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_mav_put_int32_t(buf, 36, lat);
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_mav_put_int32_t(buf, 40, lng);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
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#else
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mavlink_simstate_t packet;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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packet.lat = lat;
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packet.lng = lng;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIMSTATE_MIN_LEN, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
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}
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/**
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* @brief Encode a simstate 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 simstate C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
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{
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return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
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}
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/**
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* @brief Encode a simstate 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 simstate C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_simstate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
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{
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return mavlink_msg_simstate_pack_chan(system_id, component_id, chan, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
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}
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/**
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* @brief Encode a simstate 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 simstate C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_simstate_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
|
||
|
|
{
|
||
|
|
return mavlink_msg_simstate_pack_status(system_id, component_id, _status, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Send a simstate message
|
||
|
|
* @param chan MAVLink channel to send the message
|
||
|
|
*
|
||
|
|
* @param roll [rad] Roll angle.
|
||
|
|
* @param pitch [rad] Pitch angle.
|
||
|
|
* @param yaw [rad] Yaw angle.
|
||
|
|
* @param xacc [m/s/s] X acceleration.
|
||
|
|
* @param yacc [m/s/s] Y acceleration.
|
||
|
|
* @param zacc [m/s/s] Z acceleration.
|
||
|
|
* @param xgyro [rad/s] Angular speed around X axis.
|
||
|
|
* @param ygyro [rad/s] Angular speed around Y axis.
|
||
|
|
* @param zgyro [rad/s] Angular speed around Z axis.
|
||
|
|
* @param lat [degE7] Latitude.
|
||
|
|
* @param lng [degE7] Longitude.
|
||
|
|
*/
|
||
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||
|
|
|
||
|
|
static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
|
||
|
|
_mav_put_float(buf, 0, roll);
|
||
|
|
_mav_put_float(buf, 4, pitch);
|
||
|
|
_mav_put_float(buf, 8, yaw);
|
||
|
|
_mav_put_float(buf, 12, xacc);
|
||
|
|
_mav_put_float(buf, 16, yacc);
|
||
|
|
_mav_put_float(buf, 20, zacc);
|
||
|
|
_mav_put_float(buf, 24, xgyro);
|
||
|
|
_mav_put_float(buf, 28, ygyro);
|
||
|
|
_mav_put_float(buf, 32, zgyro);
|
||
|
|
_mav_put_int32_t(buf, 36, lat);
|
||
|
|
_mav_put_int32_t(buf, 40, lng);
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_MIN_LEN, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_simstate_t packet;
|
||
|
|
packet.roll = roll;
|
||
|
|
packet.pitch = pitch;
|
||
|
|
packet.yaw = yaw;
|
||
|
|
packet.xacc = xacc;
|
||
|
|
packet.yacc = yacc;
|
||
|
|
packet.zacc = zacc;
|
||
|
|
packet.xgyro = xgyro;
|
||
|
|
packet.ygyro = ygyro;
|
||
|
|
packet.zgyro = zgyro;
|
||
|
|
packet.lat = lat;
|
||
|
|
packet.lng = lng;
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, MAVLINK_MSG_ID_SIMSTATE_MIN_LEN, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Send a simstate message
|
||
|
|
* @param chan MAVLink channel to send the message
|
||
|
|
* @param struct The MAVLink struct to serialize
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_simstate_send_struct(mavlink_channel_t chan, const mavlink_simstate_t* simstate)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
mavlink_msg_simstate_send(chan, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)simstate, MAVLINK_MSG_ID_SIMSTATE_MIN_LEN, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if MAVLINK_MSG_ID_SIMSTATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
||
|
|
/*
|
||
|
|
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_simstate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_float(buf, 0, roll);
|
||
|
|
_mav_put_float(buf, 4, pitch);
|
||
|
|
_mav_put_float(buf, 8, yaw);
|
||
|
|
_mav_put_float(buf, 12, xacc);
|
||
|
|
_mav_put_float(buf, 16, yacc);
|
||
|
|
_mav_put_float(buf, 20, zacc);
|
||
|
|
_mav_put_float(buf, 24, xgyro);
|
||
|
|
_mav_put_float(buf, 28, ygyro);
|
||
|
|
_mav_put_float(buf, 32, zgyro);
|
||
|
|
_mav_put_int32_t(buf, 36, lat);
|
||
|
|
_mav_put_int32_t(buf, 40, lng);
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_MIN_LEN, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_simstate_t *packet = (mavlink_simstate_t *)msgbuf;
|
||
|
|
packet->roll = roll;
|
||
|
|
packet->pitch = pitch;
|
||
|
|
packet->yaw = yaw;
|
||
|
|
packet->xacc = xacc;
|
||
|
|
packet->yacc = yacc;
|
||
|
|
packet->zacc = zacc;
|
||
|
|
packet->xgyro = xgyro;
|
||
|
|
packet->ygyro = ygyro;
|
||
|
|
packet->zgyro = zgyro;
|
||
|
|
packet->lat = lat;
|
||
|
|
packet->lng = lng;
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)packet, MAVLINK_MSG_ID_SIMSTATE_MIN_LEN, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE SIMSTATE UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field roll from simstate message
|
||
|
|
*
|
||
|
|
* @return [rad] Roll angle.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_simstate_get_roll(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field pitch from simstate message
|
||
|
|
*
|
||
|
|
* @return [rad] Pitch angle.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_simstate_get_pitch(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field yaw from simstate message
|
||
|
|
*
|
||
|
|
* @return [rad] Yaw angle.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_simstate_get_yaw(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field xacc from simstate message
|
||
|
|
*
|
||
|
|
* @return [m/s/s] X acceleration.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_simstate_get_xacc(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 12);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field yacc from simstate message
|
||
|
|
*
|
||
|
|
* @return [m/s/s] Y acceleration.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_simstate_get_yacc(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 16);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field zacc from simstate message
|
||
|
|
*
|
||
|
|
* @return [m/s/s] Z acceleration.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_simstate_get_zacc(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 20);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field xgyro from simstate message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Angular speed around X axis.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_simstate_get_xgyro(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 24);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field ygyro from simstate message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Angular speed around Y axis.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_simstate_get_ygyro(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 28);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field zgyro from simstate message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Angular speed around Z axis.
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 32);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field lat from simstate message
|
||
|
|
*
|
||
|
|
* @return [degE7] Latitude.
|
||
|
|
*/
|
||
|
|
static inline int32_t mavlink_msg_simstate_get_lat(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int32_t(msg, 36);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field lng from simstate message
|
||
|
|
*
|
||
|
|
* @return [degE7] Longitude.
|
||
|
|
*/
|
||
|
|
static inline int32_t mavlink_msg_simstate_get_lng(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_int32_t(msg, 40);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a simstate message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param simstate C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mavlink_simstate_t* simstate)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
simstate->roll = mavlink_msg_simstate_get_roll(msg);
|
||
|
|
simstate->pitch = mavlink_msg_simstate_get_pitch(msg);
|
||
|
|
simstate->yaw = mavlink_msg_simstate_get_yaw(msg);
|
||
|
|
simstate->xacc = mavlink_msg_simstate_get_xacc(msg);
|
||
|
|
simstate->yacc = mavlink_msg_simstate_get_yacc(msg);
|
||
|
|
simstate->zacc = mavlink_msg_simstate_get_zacc(msg);
|
||
|
|
simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg);
|
||
|
|
simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg);
|
||
|
|
simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg);
|
||
|
|
simstate->lat = mavlink_msg_simstate_get_lat(msg);
|
||
|
|
simstate->lng = mavlink_msg_simstate_get_lng(msg);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_SIMSTATE_LEN? msg->len : MAVLINK_MSG_ID_SIMSTATE_LEN;
|
||
|
|
memset(simstate, 0, MAVLINK_MSG_ID_SIMSTATE_LEN);
|
||
|
|
memcpy(simstate, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|