source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/include/common/mavlink_msg_attitude.h @ 75

Last change on this file since 75 was 75, checked in by Thomas Fuhrmann, 5 years ago

Change the version of mavlink generated messages and rename it to include

File size: 13.5 KB
Line 
1// MESSAGE ATTITUDE PACKING
2
3#define MAVLINK_MSG_ID_ATTITUDE 30
4
5typedef struct MAVLINK_PACKED __mavlink_attitude_t
6{
7 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
8 float roll; /*< Roll angle (rad, -pi..+pi)*/
9 float pitch; /*< Pitch angle (rad, -pi..+pi)*/
10 float yaw; /*< Yaw angle (rad, -pi..+pi)*/
11 float rollspeed; /*< Roll angular speed (rad/s)*/
12 float pitchspeed; /*< Pitch angular speed (rad/s)*/
13 float yawspeed; /*< Yaw angular speed (rad/s)*/
14} mavlink_attitude_t;
15
16#define MAVLINK_MSG_ID_ATTITUDE_LEN 28
17#define MAVLINK_MSG_ID_ATTITUDE_MIN_LEN 28
18#define MAVLINK_MSG_ID_30_LEN 28
19#define MAVLINK_MSG_ID_30_MIN_LEN 28
20
21#define MAVLINK_MSG_ID_ATTITUDE_CRC 39
22#define MAVLINK_MSG_ID_30_CRC 39
23
24
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
28        30, \
29        "ATTITUDE", \
30        7, \
31        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
32         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
33         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
34         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
35         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
36         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
37         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
38         } \
39}
40#else
41#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
42        "ATTITUDE", \
43        7, \
44        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
45         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
46         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
47         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
48         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
49         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
50         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
51         } \
52}
53#endif
54
55/**
56 * @brief Pack a attitude message
57 * @param system_id ID of this system
58 * @param component_id ID of this component (e.g. 200 for IMU)
59 * @param msg The MAVLink message to compress the data into
60 *
61 * @param time_boot_ms Timestamp (milliseconds since system boot)
62 * @param roll Roll angle (rad, -pi..+pi)
63 * @param pitch Pitch angle (rad, -pi..+pi)
64 * @param yaw Yaw angle (rad, -pi..+pi)
65 * @param rollspeed Roll angular speed (rad/s)
66 * @param pitchspeed Pitch angular speed (rad/s)
67 * @param yawspeed Yaw angular speed (rad/s)
68 * @return length of the message in bytes (excluding serial stream start sign)
69 */
70static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
71                                                       uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
72{
73#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
74        char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
75        _mav_put_uint32_t(buf, 0, time_boot_ms);
76        _mav_put_float(buf, 4, roll);
77        _mav_put_float(buf, 8, pitch);
78        _mav_put_float(buf, 12, yaw);
79        _mav_put_float(buf, 16, rollspeed);
80        _mav_put_float(buf, 20, pitchspeed);
81        _mav_put_float(buf, 24, yawspeed);
82
83        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
84#else
85        mavlink_attitude_t packet;
86        packet.time_boot_ms = time_boot_ms;
87        packet.roll = roll;
88        packet.pitch = pitch;
89        packet.yaw = yaw;
90        packet.rollspeed = rollspeed;
91        packet.pitchspeed = pitchspeed;
92        packet.yawspeed = yawspeed;
93
94        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
95#endif
96
97        msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
98    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
99}
100
101/**
102 * @brief Pack a attitude message on a channel
103 * @param system_id ID of this system
104 * @param component_id ID of this component (e.g. 200 for IMU)
105 * @param chan The MAVLink channel this message will be sent over
106 * @param msg The MAVLink message to compress the data into
107 * @param time_boot_ms Timestamp (milliseconds since system boot)
108 * @param roll Roll angle (rad, -pi..+pi)
109 * @param pitch Pitch angle (rad, -pi..+pi)
110 * @param yaw Yaw angle (rad, -pi..+pi)
111 * @param rollspeed Roll angular speed (rad/s)
112 * @param pitchspeed Pitch angular speed (rad/s)
113 * @param yawspeed Yaw angular speed (rad/s)
114 * @return length of the message in bytes (excluding serial stream start sign)
115 */
116static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
117                                                           mavlink_message_t* msg,
118                                                           uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
119{
120#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
121        char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
122        _mav_put_uint32_t(buf, 0, time_boot_ms);
123        _mav_put_float(buf, 4, roll);
124        _mav_put_float(buf, 8, pitch);
125        _mav_put_float(buf, 12, yaw);
126        _mav_put_float(buf, 16, rollspeed);
127        _mav_put_float(buf, 20, pitchspeed);
128        _mav_put_float(buf, 24, yawspeed);
129
130        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
131#else
132        mavlink_attitude_t packet;
133        packet.time_boot_ms = time_boot_ms;
134        packet.roll = roll;
135        packet.pitch = pitch;
136        packet.yaw = yaw;
137        packet.rollspeed = rollspeed;
138        packet.pitchspeed = pitchspeed;
139        packet.yawspeed = yawspeed;
140
141        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
142#endif
143
144        msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
145    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
146}
147
148/**
149 * @brief Encode a attitude struct
150 *
151 * @param system_id ID of this system
152 * @param component_id ID of this component (e.g. 200 for IMU)
153 * @param msg The MAVLink message to compress the data into
154 * @param attitude C-struct to read the message contents from
155 */
156static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
157{
158        return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
159}
160
161/**
162 * @brief Encode a attitude struct on a channel
163 *
164 * @param system_id ID of this system
165 * @param component_id ID of this component (e.g. 200 for IMU)
166 * @param chan The MAVLink channel this message will be sent over
167 * @param msg The MAVLink message to compress the data into
168 * @param attitude C-struct to read the message contents from
169 */
170static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
171{
172        return mavlink_msg_attitude_pack_chan(system_id, component_id, chan, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
173}
174
175/**
176 * @brief Send a attitude message
177 * @param chan MAVLink channel to send the message
178 *
179 * @param time_boot_ms Timestamp (milliseconds since system boot)
180 * @param roll Roll angle (rad, -pi..+pi)
181 * @param pitch Pitch angle (rad, -pi..+pi)
182 * @param yaw Yaw angle (rad, -pi..+pi)
183 * @param rollspeed Roll angular speed (rad/s)
184 * @param pitchspeed Pitch angular speed (rad/s)
185 * @param yawspeed Yaw angular speed (rad/s)
186 */
187#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
188
189static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
190{
191#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
192        char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
193        _mav_put_uint32_t(buf, 0, time_boot_ms);
194        _mav_put_float(buf, 4, roll);
195        _mav_put_float(buf, 8, pitch);
196        _mav_put_float(buf, 12, yaw);
197        _mav_put_float(buf, 16, rollspeed);
198        _mav_put_float(buf, 20, pitchspeed);
199        _mav_put_float(buf, 24, yawspeed);
200
201    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
202#else
203        mavlink_attitude_t packet;
204        packet.time_boot_ms = time_boot_ms;
205        packet.roll = roll;
206        packet.pitch = pitch;
207        packet.yaw = yaw;
208        packet.rollspeed = rollspeed;
209        packet.pitchspeed = pitchspeed;
210        packet.yawspeed = yawspeed;
211
212    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
213#endif
214}
215
216/**
217 * @brief Send a attitude message
218 * @param chan MAVLink channel to send the message
219 * @param struct The MAVLink struct to serialize
220 */
221static inline void mavlink_msg_attitude_send_struct(mavlink_channel_t chan, const mavlink_attitude_t* attitude)
222{
223#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
224    mavlink_msg_attitude_send(chan, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
225#else
226    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)attitude, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
227#endif
228}
229
230#if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
231/*
232  This varient of _send() can be used to save stack space by re-using
233  memory from the receive buffer.  The caller provides a
234  mavlink_message_t which is the size of a full mavlink message. This
235  is usually the receive buffer for the channel, and allows a reply to an
236  incoming message with minimum stack space usage.
237 */
238static inline void mavlink_msg_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
239{
240#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
241        char *buf = (char *)msgbuf;
242        _mav_put_uint32_t(buf, 0, time_boot_ms);
243        _mav_put_float(buf, 4, roll);
244        _mav_put_float(buf, 8, pitch);
245        _mav_put_float(buf, 12, yaw);
246        _mav_put_float(buf, 16, rollspeed);
247        _mav_put_float(buf, 20, pitchspeed);
248        _mav_put_float(buf, 24, yawspeed);
249
250    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
251#else
252        mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
253        packet->time_boot_ms = time_boot_ms;
254        packet->roll = roll;
255        packet->pitch = pitch;
256        packet->yaw = yaw;
257        packet->rollspeed = rollspeed;
258        packet->pitchspeed = pitchspeed;
259        packet->yawspeed = yawspeed;
260
261    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
262#endif
263}
264#endif
265
266#endif
267
268// MESSAGE ATTITUDE UNPACKING
269
270
271/**
272 * @brief Get field time_boot_ms from attitude message
273 *
274 * @return Timestamp (milliseconds since system boot)
275 */
276static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
277{
278        return _MAV_RETURN_uint32_t(msg,  0);
279}
280
281/**
282 * @brief Get field roll from attitude message
283 *
284 * @return Roll angle (rad, -pi..+pi)
285 */
286static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
287{
288        return _MAV_RETURN_float(msg,  4);
289}
290
291/**
292 * @brief Get field pitch from attitude message
293 *
294 * @return Pitch angle (rad, -pi..+pi)
295 */
296static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
297{
298        return _MAV_RETURN_float(msg,  8);
299}
300
301/**
302 * @brief Get field yaw from attitude message
303 *
304 * @return Yaw angle (rad, -pi..+pi)
305 */
306static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
307{
308        return _MAV_RETURN_float(msg,  12);
309}
310
311/**
312 * @brief Get field rollspeed from attitude message
313 *
314 * @return Roll angular speed (rad/s)
315 */
316static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
317{
318        return _MAV_RETURN_float(msg,  16);
319}
320
321/**
322 * @brief Get field pitchspeed from attitude message
323 *
324 * @return Pitch angular speed (rad/s)
325 */
326static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
327{
328        return _MAV_RETURN_float(msg,  20);
329}
330
331/**
332 * @brief Get field yawspeed from attitude message
333 *
334 * @return Yaw angular speed (rad/s)
335 */
336static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
337{
338        return _MAV_RETURN_float(msg,  24);
339}
340
341/**
342 * @brief Decode a attitude message into a struct
343 *
344 * @param msg The message to decode
345 * @param attitude C-struct to decode the message contents into
346 */
347static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
348{
349#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
350        attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
351        attitude->roll = mavlink_msg_attitude_get_roll(msg);
352        attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
353        attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
354        attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
355        attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
356        attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
357#else
358        uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_LEN;
359        memset(attitude, 0, MAVLINK_MSG_ID_ATTITUDE_LEN);
360        memcpy(attitude, _MAV_PAYLOAD(msg), len);
361#endif
362}
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