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, 8 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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