401 lines
14 KiB
C
401 lines
14 KiB
C
#pragma once
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// MESSAGE AHRS2 PACKING
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#define MAVLINK_MSG_ID_AHRS2 178
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typedef struct __mavlink_ahrs2_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 altitude; /*< [m] Altitude (MSL).*/
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int32_t lat; /*< [degE7] Latitude.*/
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int32_t lng; /*< [degE7] Longitude.*/
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} mavlink_ahrs2_t;
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#define MAVLINK_MSG_ID_AHRS2_LEN 24
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#define MAVLINK_MSG_ID_AHRS2_MIN_LEN 24
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#define MAVLINK_MSG_ID_178_LEN 24
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#define MAVLINK_MSG_ID_178_MIN_LEN 24
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#define MAVLINK_MSG_ID_AHRS2_CRC 47
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#define MAVLINK_MSG_ID_178_CRC 47
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_AHRS2 { \
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178, \
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"AHRS2", \
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6, \
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{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs2_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs2_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs2_t, yaw) }, \
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{ "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs2_t, altitude) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_ahrs2_t, lat) }, \
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{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_ahrs2_t, lng) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_AHRS2 { \
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"AHRS2", \
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6, \
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{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs2_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs2_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs2_t, yaw) }, \
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{ "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs2_t, altitude) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_ahrs2_t, lat) }, \
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{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_ahrs2_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 ahrs2 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 altitude [m] Altitude (MSL).
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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_ahrs2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float roll, float pitch, float yaw, float altitude, 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_AHRS2_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, altitude);
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_mav_put_int32_t(buf, 16, lat);
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_mav_put_int32_t(buf, 20, lng);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS2_LEN);
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#else
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mavlink_ahrs2_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.altitude = altitude;
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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_AHRS2_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AHRS2;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS2_MIN_LEN, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
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}
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/**
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* @brief Pack a ahrs2 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 altitude [m] Altitude (MSL).
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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_ahrs2_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 altitude, 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_AHRS2_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, altitude);
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_mav_put_int32_t(buf, 16, lat);
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_mav_put_int32_t(buf, 20, lng);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS2_LEN);
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#else
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mavlink_ahrs2_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.altitude = altitude;
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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_AHRS2_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AHRS2;
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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_AHRS2_MIN_LEN, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
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#else
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return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_AHRS2_MIN_LEN, MAVLINK_MSG_ID_AHRS2_LEN);
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#endif
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}
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/**
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* @brief Pack a ahrs2 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 altitude [m] Altitude (MSL).
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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_ahrs2_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 altitude,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_AHRS2_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, altitude);
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_mav_put_int32_t(buf, 16, lat);
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_mav_put_int32_t(buf, 20, lng);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS2_LEN);
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#else
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mavlink_ahrs2_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.altitude = altitude;
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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_AHRS2_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_AHRS2;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS2_MIN_LEN, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
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}
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/**
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* @brief Encode a ahrs2 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 ahrs2 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ahrs2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs2_t* ahrs2)
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{
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return mavlink_msg_ahrs2_pack(system_id, component_id, msg, ahrs2->roll, ahrs2->pitch, ahrs2->yaw, ahrs2->altitude, ahrs2->lat, ahrs2->lng);
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}
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/**
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* @brief Encode a ahrs2 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 ahrs2 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ahrs2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs2_t* ahrs2)
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{
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return mavlink_msg_ahrs2_pack_chan(system_id, component_id, chan, msg, ahrs2->roll, ahrs2->pitch, ahrs2->yaw, ahrs2->altitude, ahrs2->lat, ahrs2->lng);
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}
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/**
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* @brief Encode a ahrs2 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 ahrs2 C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ahrs2_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_ahrs2_t* ahrs2)
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{
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return mavlink_msg_ahrs2_pack_status(system_id, component_id, _status, msg, ahrs2->roll, ahrs2->pitch, ahrs2->yaw, ahrs2->altitude, ahrs2->lat, ahrs2->lng);
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}
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/**
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* @brief Send a ahrs2 message
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* @param chan MAVLink channel to send the message
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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 altitude [m] Altitude (MSL).
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* @param lat [degE7] Latitude.
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* @param lng [degE7] Longitude.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_ahrs2_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, 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_AHRS2_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, altitude);
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_mav_put_int32_t(buf, 16, lat);
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_mav_put_int32_t(buf, 20, lng);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_MIN_LEN, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
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#else
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mavlink_ahrs2_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.altitude = altitude;
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packet.lat = lat;
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packet.lng = lng;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)&packet, MAVLINK_MSG_ID_AHRS2_MIN_LEN, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
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#endif
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}
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/**
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* @brief Send a ahrs2 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_ahrs2_send_struct(mavlink_channel_t chan, const mavlink_ahrs2_t* ahrs2)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_ahrs2_send(chan, ahrs2->roll, ahrs2->pitch, ahrs2->yaw, ahrs2->altitude, ahrs2->lat, ahrs2->lng);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)ahrs2, MAVLINK_MSG_ID_AHRS2_MIN_LEN, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_AHRS2_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This variant of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_ahrs2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, 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 = (char *)msgbuf;
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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, altitude);
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_mav_put_int32_t(buf, 16, lat);
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_mav_put_int32_t(buf, 20, lng);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_MIN_LEN, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
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#else
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mavlink_ahrs2_t *packet = (mavlink_ahrs2_t *)msgbuf;
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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->altitude = altitude;
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packet->lat = lat;
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packet->lng = lng;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)packet, MAVLINK_MSG_ID_AHRS2_MIN_LEN, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE AHRS2 UNPACKING
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/**
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* @brief Get field roll from ahrs2 message
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*
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* @return [rad] Roll angle.
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*/
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static inline float mavlink_msg_ahrs2_get_roll(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field pitch from ahrs2 message
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*
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* @return [rad] Pitch angle.
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*/
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static inline float mavlink_msg_ahrs2_get_pitch(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field yaw from ahrs2 message
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*
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* @return [rad] Yaw angle.
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*/
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static inline float mavlink_msg_ahrs2_get_yaw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field altitude from ahrs2 message
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*
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* @return [m] Altitude (MSL).
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*/
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static inline float mavlink_msg_ahrs2_get_altitude(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field lat from ahrs2 message
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*
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* @return [degE7] Latitude.
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*/
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static inline int32_t mavlink_msg_ahrs2_get_lat(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 16);
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}
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/**
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* @brief Get field lng from ahrs2 message
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*
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* @return [degE7] Longitude.
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*/
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static inline int32_t mavlink_msg_ahrs2_get_lng(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 20);
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}
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/**
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* @brief Decode a ahrs2 message into a struct
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*
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* @param msg The message to decode
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* @param ahrs2 C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_ahrs2_decode(const mavlink_message_t* msg, mavlink_ahrs2_t* ahrs2)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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ahrs2->roll = mavlink_msg_ahrs2_get_roll(msg);
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ahrs2->pitch = mavlink_msg_ahrs2_get_pitch(msg);
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ahrs2->yaw = mavlink_msg_ahrs2_get_yaw(msg);
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ahrs2->altitude = mavlink_msg_ahrs2_get_altitude(msg);
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ahrs2->lat = mavlink_msg_ahrs2_get_lat(msg);
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ahrs2->lng = mavlink_msg_ahrs2_get_lng(msg);
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#else
|
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uint8_t len = msg->len < MAVLINK_MSG_ID_AHRS2_LEN? msg->len : MAVLINK_MSG_ID_AHRS2_LEN;
|
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memset(ahrs2, 0, MAVLINK_MSG_ID_AHRS2_LEN);
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memcpy(ahrs2, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
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