#pragma once // MESSAGE AHRS3 PACKING #define MAVLINK_MSG_ID_AHRS3 182 typedef struct __mavlink_ahrs3_t { float roll; /*< [rad] Roll angle.*/ float pitch; /*< [rad] Pitch angle.*/ float yaw; /*< [rad] Yaw angle.*/ float altitude; /*< [m] Altitude (MSL).*/ int32_t lat; /*< [degE7] Latitude.*/ int32_t lng; /*< [degE7] Longitude.*/ float v1; /*< Test variable1.*/ float v2; /*< Test variable2.*/ float v3; /*< Test variable3.*/ float v4; /*< Test variable4.*/ } mavlink_ahrs3_t; #define MAVLINK_MSG_ID_AHRS3_LEN 40 #define MAVLINK_MSG_ID_AHRS3_MIN_LEN 40 #define MAVLINK_MSG_ID_182_LEN 40 #define MAVLINK_MSG_ID_182_MIN_LEN 40 #define MAVLINK_MSG_ID_AHRS3_CRC 229 #define MAVLINK_MSG_ID_182_CRC 229 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_AHRS3 { \ 182, \ "AHRS3", \ 10, \ { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs3_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs3_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs3_t, yaw) }, \ { "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs3_t, altitude) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_ahrs3_t, lat) }, \ { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_ahrs3_t, lng) }, \ { "v1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs3_t, v1) }, \ { "v2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ahrs3_t, v2) }, \ { "v3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ahrs3_t, v3) }, \ { "v4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_ahrs3_t, v4) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_AHRS3 { \ "AHRS3", \ 10, \ { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs3_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs3_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs3_t, yaw) }, \ { "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs3_t, altitude) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_ahrs3_t, lat) }, \ { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_ahrs3_t, lng) }, \ { "v1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs3_t, v1) }, \ { "v2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ahrs3_t, v2) }, \ { "v3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ahrs3_t, v3) }, \ { "v4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_ahrs3_t, v4) }, \ } \ } #endif /** * @brief Pack a ahrs3 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 roll [rad] Roll angle. * @param pitch [rad] Pitch angle. * @param yaw [rad] Yaw angle. * @param altitude [m] Altitude (MSL). * @param lat [degE7] Latitude. * @param lng [degE7] Longitude. * @param v1 Test variable1. * @param v2 Test variable2. * @param v3 Test variable3. * @param v4 Test variable4. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_ahrs3_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng, float v1, float v2, float v3, float v4) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_AHRS3_LEN]; _mav_put_float(buf, 0, roll); _mav_put_float(buf, 4, pitch); _mav_put_float(buf, 8, yaw); _mav_put_float(buf, 12, altitude); _mav_put_int32_t(buf, 16, lat); _mav_put_int32_t(buf, 20, lng); _mav_put_float(buf, 24, v1); _mav_put_float(buf, 28, v2); _mav_put_float(buf, 32, v3); _mav_put_float(buf, 36, v4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS3_LEN); #else mavlink_ahrs3_t packet; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.altitude = altitude; packet.lat = lat; packet.lng = lng; packet.v1 = v1; packet.v2 = v2; packet.v3 = v3; packet.v4 = v4; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS3_LEN); #endif msg->msgid = MAVLINK_MSG_ID_AHRS3; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS3_MIN_LEN, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC); } /** * @brief Pack a ahrs3 message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param status MAVLink status structure * @param msg The MAVLink message to compress the data into * * @param roll [rad] Roll angle. * @param pitch [rad] Pitch angle. * @param yaw [rad] Yaw angle. * @param altitude [m] Altitude (MSL). * @param lat [degE7] Latitude. * @param lng [degE7] Longitude. * @param v1 Test variable1. * @param v2 Test variable2. * @param v3 Test variable3. * @param v4 Test variable4. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_ahrs3_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng, float v1, float v2, float v3, float v4) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_AHRS3_LEN]; _mav_put_float(buf, 0, roll); _mav_put_float(buf, 4, pitch); _mav_put_float(buf, 8, yaw); _mav_put_float(buf, 12, altitude); _mav_put_int32_t(buf, 16, lat); _mav_put_int32_t(buf, 20, lng); _mav_put_float(buf, 24, v1); _mav_put_float(buf, 28, v2); _mav_put_float(buf, 32, v3); _mav_put_float(buf, 36, v4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS3_LEN); #else mavlink_ahrs3_t packet; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.altitude = altitude; packet.lat = lat; packet.lng = lng; packet.v1 = v1; packet.v2 = v2; packet.v3 = v3; packet.v4 = v4; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS3_LEN); #endif msg->msgid = MAVLINK_MSG_ID_AHRS3; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_AHRS3_MIN_LEN, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC); #else return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_AHRS3_MIN_LEN, MAVLINK_MSG_ID_AHRS3_LEN); #endif } /** * @brief Pack a ahrs3 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 will be sent over * @param msg The MAVLink message to compress the data into * @param roll [rad] Roll angle. * @param pitch [rad] Pitch angle. * @param yaw [rad] Yaw angle. * @param altitude [m] Altitude (MSL). * @param lat [degE7] Latitude. * @param lng [degE7] Longitude. * @param v1 Test variable1. * @param v2 Test variable2. * @param v3 Test variable3. * @param v4 Test variable4. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_ahrs3_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float roll,float pitch,float yaw,float altitude,int32_t lat,int32_t lng,float v1,float v2,float v3,float v4) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_AHRS3_LEN]; _mav_put_float(buf, 0, roll); _mav_put_float(buf, 4, pitch); _mav_put_float(buf, 8, yaw); _mav_put_float(buf, 12, altitude); _mav_put_int32_t(buf, 16, lat); _mav_put_int32_t(buf, 20, lng); _mav_put_float(buf, 24, v1); _mav_put_float(buf, 28, v2); _mav_put_float(buf, 32, v3); _mav_put_float(buf, 36, v4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS3_LEN); #else mavlink_ahrs3_t packet; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.altitude = altitude; packet.lat = lat; packet.lng = lng; packet.v1 = v1; packet.v2 = v2; packet.v3 = v3; packet.v4 = v4; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS3_LEN); #endif msg->msgid = MAVLINK_MSG_ID_AHRS3; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS3_MIN_LEN, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC); } /** * @brief Encode a ahrs3 struct * * @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 ahrs3 C-struct to read the message contents from */ static inline uint16_t mavlink_msg_ahrs3_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs3_t* ahrs3) { return mavlink_msg_ahrs3_pack(system_id, component_id, msg, ahrs3->roll, ahrs3->pitch, ahrs3->yaw, ahrs3->altitude, ahrs3->lat, ahrs3->lng, ahrs3->v1, ahrs3->v2, ahrs3->v3, ahrs3->v4); } /** * @brief Encode a ahrs3 struct 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 will be sent over * @param msg The MAVLink message to compress the data into * @param ahrs3 C-struct to read the message contents from */ static inline uint16_t mavlink_msg_ahrs3_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs3_t* ahrs3) { return mavlink_msg_ahrs3_pack_chan(system_id, component_id, chan, msg, ahrs3->roll, ahrs3->pitch, ahrs3->yaw, ahrs3->altitude, ahrs3->lat, ahrs3->lng, ahrs3->v1, ahrs3->v2, ahrs3->v3, ahrs3->v4); } /** * @brief Encode a ahrs3 struct with provided status structure * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param status MAVLink status structure * @param msg The MAVLink message to compress the data into * @param ahrs3 C-struct to read the message contents from */ static inline uint16_t mavlink_msg_ahrs3_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_ahrs3_t* ahrs3) { return mavlink_msg_ahrs3_pack_status(system_id, component_id, _status, msg, ahrs3->roll, ahrs3->pitch, ahrs3->yaw, ahrs3->altitude, ahrs3->lat, ahrs3->lng, ahrs3->v1, ahrs3->v2, ahrs3->v3, ahrs3->v4); } /** * @brief Send a ahrs3 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 altitude [m] Altitude (MSL). * @param lat [degE7] Latitude. * @param lng [degE7] Longitude. * @param v1 Test variable1. * @param v2 Test variable2. * @param v3 Test variable3. * @param v4 Test variable4. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_ahrs3_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng, float v1, float v2, float v3, float v4) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_AHRS3_LEN]; _mav_put_float(buf, 0, roll); _mav_put_float(buf, 4, pitch); _mav_put_float(buf, 8, yaw); _mav_put_float(buf, 12, altitude); _mav_put_int32_t(buf, 16, lat); _mav_put_int32_t(buf, 20, lng); _mav_put_float(buf, 24, v1); _mav_put_float(buf, 28, v2); _mav_put_float(buf, 32, v3); _mav_put_float(buf, 36, v4); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, buf, MAVLINK_MSG_ID_AHRS3_MIN_LEN, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC); #else mavlink_ahrs3_t packet; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.altitude = altitude; packet.lat = lat; packet.lng = lng; packet.v1 = v1; packet.v2 = v2; packet.v3 = v3; packet.v4 = v4; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, (const char *)&packet, MAVLINK_MSG_ID_AHRS3_MIN_LEN, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC); #endif } /** * @brief Send a ahrs3 message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_ahrs3_send_struct(mavlink_channel_t chan, const mavlink_ahrs3_t* ahrs3) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_ahrs3_send(chan, ahrs3->roll, ahrs3->pitch, ahrs3->yaw, ahrs3->altitude, ahrs3->lat, ahrs3->lng, ahrs3->v1, ahrs3->v2, ahrs3->v3, ahrs3->v4); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, (const char *)ahrs3, MAVLINK_MSG_ID_AHRS3_MIN_LEN, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC); #endif } #if MAVLINK_MSG_ID_AHRS3_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_ahrs3_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng, float v1, float v2, float v3, float v4) { #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, altitude); _mav_put_int32_t(buf, 16, lat); _mav_put_int32_t(buf, 20, lng); _mav_put_float(buf, 24, v1); _mav_put_float(buf, 28, v2); _mav_put_float(buf, 32, v3); _mav_put_float(buf, 36, v4); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, buf, MAVLINK_MSG_ID_AHRS3_MIN_LEN, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC); #else mavlink_ahrs3_t *packet = (mavlink_ahrs3_t *)msgbuf; packet->roll = roll; packet->pitch = pitch; packet->yaw = yaw; packet->altitude = altitude; packet->lat = lat; packet->lng = lng; packet->v1 = v1; packet->v2 = v2; packet->v3 = v3; packet->v4 = v4; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, (const char *)packet, MAVLINK_MSG_ID_AHRS3_MIN_LEN, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC); #endif } #endif #endif // MESSAGE AHRS3 UNPACKING /** * @brief Get field roll from ahrs3 message * * @return [rad] Roll angle. */ static inline float mavlink_msg_ahrs3_get_roll(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 0); } /** * @brief Get field pitch from ahrs3 message * * @return [rad] Pitch angle. */ static inline float mavlink_msg_ahrs3_get_pitch(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field yaw from ahrs3 message * * @return [rad] Yaw angle. */ static inline float mavlink_msg_ahrs3_get_yaw(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field altitude from ahrs3 message * * @return [m] Altitude (MSL). */ static inline float mavlink_msg_ahrs3_get_altitude(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field lat from ahrs3 message * * @return [degE7] Latitude. */ static inline int32_t mavlink_msg_ahrs3_get_lat(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 16); } /** * @brief Get field lng from ahrs3 message * * @return [degE7] Longitude. */ static inline int32_t mavlink_msg_ahrs3_get_lng(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 20); } /** * @brief Get field v1 from ahrs3 message * * @return Test variable1. */ static inline float mavlink_msg_ahrs3_get_v1(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field v2 from ahrs3 message * * @return Test variable2. */ static inline float mavlink_msg_ahrs3_get_v2(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field v3 from ahrs3 message * * @return Test variable3. */ static inline float mavlink_msg_ahrs3_get_v3(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Get field v4 from ahrs3 message * * @return Test variable4. */ static inline float mavlink_msg_ahrs3_get_v4(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 36); } /** * @brief Decode a ahrs3 message into a struct * * @param msg The message to decode * @param ahrs3 C-struct to decode the message contents into */ static inline void mavlink_msg_ahrs3_decode(const mavlink_message_t* msg, mavlink_ahrs3_t* ahrs3) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS ahrs3->roll = mavlink_msg_ahrs3_get_roll(msg); ahrs3->pitch = mavlink_msg_ahrs3_get_pitch(msg); ahrs3->yaw = mavlink_msg_ahrs3_get_yaw(msg); ahrs3->altitude = mavlink_msg_ahrs3_get_altitude(msg); ahrs3->lat = mavlink_msg_ahrs3_get_lat(msg); ahrs3->lng = mavlink_msg_ahrs3_get_lng(msg); ahrs3->v1 = mavlink_msg_ahrs3_get_v1(msg); ahrs3->v2 = mavlink_msg_ahrs3_get_v2(msg); ahrs3->v3 = mavlink_msg_ahrs3_get_v3(msg); ahrs3->v4 = mavlink_msg_ahrs3_get_v4(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_AHRS3_LEN? msg->len : MAVLINK_MSG_ID_AHRS3_LEN; memset(ahrs3, 0, MAVLINK_MSG_ID_AHRS3_LEN); memcpy(ahrs3, _MAV_PAYLOAD(msg), len); #endif }