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

// MESSAGE ATTITUDE PACKING

#define MAVLINK_MSG_ID_ATTITUDE 30

typedef struct MAVLINK_PACKED __mavlink_attitude_t
{
 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
 float roll; /*< Roll angle (rad, -pi..+pi)*/
 float pitch; /*< Pitch angle (rad, -pi..+pi)*/
 float yaw; /*< Yaw angle (rad, -pi..+pi)*/
 float rollspeed; /*< Roll angular speed (rad/s)*/
 float pitchspeed; /*< Pitch angular speed (rad/s)*/
 float yawspeed; /*< Yaw angular speed (rad/s)*/
} mavlink_attitude_t;

#define MAVLINK_MSG_ID_ATTITUDE_LEN 28
#define MAVLINK_MSG_ID_ATTITUDE_MIN_LEN 28
#define MAVLINK_MSG_ID_30_LEN 28
#define MAVLINK_MSG_ID_30_MIN_LEN 28

#define MAVLINK_MSG_ID_ATTITUDE_CRC 39
#define MAVLINK_MSG_ID_30_CRC 39



#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
        30, \
        "ATTITUDE", \
        7, \
        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
        "ATTITUDE", \
        7, \
        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
         { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
         { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
         { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
         } \
}
#endif

/**
 * @brief Pack a attitude 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 time_boot_ms Timestamp (milliseconds since system boot)
 * @param roll Roll angle (rad, -pi..+pi)
 * @param pitch Pitch angle (rad, -pi..+pi)
 * @param yaw Yaw angle (rad, -pi..+pi)
 * @param rollspeed Roll angular speed (rad/s)
 * @param pitchspeed Pitch angular speed (rad/s)
 * @param yawspeed Yaw angular speed (rad/s)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                                       uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_float(buf, 4, roll);
        _mav_put_float(buf, 8, pitch);
        _mav_put_float(buf, 12, yaw);
        _mav_put_float(buf, 16, rollspeed);
        _mav_put_float(buf, 20, pitchspeed);
        _mav_put_float(buf, 24, yawspeed);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
#else
        mavlink_attitude_t packet;
        packet.time_boot_ms = time_boot_ms;
        packet.roll = roll;
        packet.pitch = pitch;
        packet.yaw = yaw;
        packet.rollspeed = rollspeed;
        packet.pitchspeed = pitchspeed;
        packet.yawspeed = yawspeed;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
    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);
}

/**
 * @brief Pack a attitude 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 time_boot_ms Timestamp (milliseconds since system boot)
 * @param roll Roll angle (rad, -pi..+pi)
 * @param pitch Pitch angle (rad, -pi..+pi)
 * @param yaw Yaw angle (rad, -pi..+pi)
 * @param rollspeed Roll angular speed (rad/s)
 * @param pitchspeed Pitch angular speed (rad/s)
 * @param yawspeed Yaw angular speed (rad/s)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                           mavlink_message_t* msg,
                                                           uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_float(buf, 4, roll);
        _mav_put_float(buf, 8, pitch);
        _mav_put_float(buf, 12, yaw);
        _mav_put_float(buf, 16, rollspeed);
        _mav_put_float(buf, 20, pitchspeed);
        _mav_put_float(buf, 24, yawspeed);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
#else
        mavlink_attitude_t packet;
        packet.time_boot_ms = time_boot_ms;
        packet.roll = roll;
        packet.pitch = pitch;
        packet.yaw = yaw;
        packet.rollspeed = rollspeed;
        packet.pitchspeed = pitchspeed;
        packet.yawspeed = yawspeed;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
    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);
}

/**
 * @brief Encode a attitude 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 attitude C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
{
        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);
}

/**
 * @brief Encode a attitude 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 attitude C-struct to read the message contents from
 */
static 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)
{
        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);
}

/**
 * @brief Send a attitude message
 * @param chan MAVLink channel to send the message
 *
 * @param time_boot_ms Timestamp (milliseconds since system boot)
 * @param roll Roll angle (rad, -pi..+pi)
 * @param pitch Pitch angle (rad, -pi..+pi)
 * @param yaw Yaw angle (rad, -pi..+pi)
 * @param rollspeed Roll angular speed (rad/s)
 * @param pitchspeed Pitch angular speed (rad/s)
 * @param yawspeed Yaw angular speed (rad/s)
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static 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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_float(buf, 4, roll);
        _mav_put_float(buf, 8, pitch);
        _mav_put_float(buf, 12, yaw);
        _mav_put_float(buf, 16, rollspeed);
        _mav_put_float(buf, 20, pitchspeed);
        _mav_put_float(buf, 24, yawspeed);

    _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);
#else
        mavlink_attitude_t packet;
        packet.time_boot_ms = time_boot_ms;
        packet.roll = roll;
        packet.pitch = pitch;
        packet.yaw = yaw;
        packet.rollspeed = rollspeed;
        packet.pitchspeed = pitchspeed;
        packet.yawspeed = yawspeed;

    _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);
#endif
}

/**
 * @brief Send a attitude message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_attitude_send_struct(mavlink_channel_t chan, const mavlink_attitude_t* attitude)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_attitude_send(chan, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
#else
    _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);
#endif
}

#if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This varient 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_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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char *buf = (char *)msgbuf;
        _mav_put_uint32_t(buf, 0, time_boot_ms);
        _mav_put_float(buf, 4, roll);
        _mav_put_float(buf, 8, pitch);
        _mav_put_float(buf, 12, yaw);
        _mav_put_float(buf, 16, rollspeed);
        _mav_put_float(buf, 20, pitchspeed);
        _mav_put_float(buf, 24, yawspeed);

    _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);
#else
        mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
        packet->time_boot_ms = time_boot_ms;
        packet->roll = roll;
        packet->pitch = pitch;
        packet->yaw = yaw;
        packet->rollspeed = rollspeed;
        packet->pitchspeed = pitchspeed;
        packet->yawspeed = yawspeed;

    _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);
#endif
}
#endif

#endif

// MESSAGE ATTITUDE UNPACKING


/**
 * @brief Get field time_boot_ms from attitude message
 *
 * @return Timestamp (milliseconds since system boot)
 */
static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint32_t(msg,  0);
}

/**
 * @brief Get field roll from attitude message
 *
 * @return Roll angle (rad, -pi..+pi)
 */
static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  4);
}

/**
 * @brief Get field pitch from attitude message
 *
 * @return Pitch angle (rad, -pi..+pi)
 */
static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  8);
}

/**
 * @brief Get field yaw from attitude message
 *
 * @return Yaw angle (rad, -pi..+pi)
 */
static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  12);
}

/**
 * @brief Get field rollspeed from attitude message
 *
 * @return Roll angular speed (rad/s)
 */
static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  16);
}

/**
 * @brief Get field pitchspeed from attitude message
 *
 * @return Pitch angular speed (rad/s)
 */
static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  20);
}

/**
 * @brief Get field yawspeed from attitude message
 *
 * @return Yaw angular speed (rad/s)
 */
static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  24);
}

/**
 * @brief Decode a attitude message into a struct
 *
 * @param msg The message to decode
 * @param attitude C-struct to decode the message contents into
 */
static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
        attitude->roll = mavlink_msg_attitude_get_roll(msg);
        attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
        attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
        attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
        attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
        attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_LEN;
        memset(attitude, 0, MAVLINK_MSG_ID_ATTITUDE_LEN);
        memcpy(attitude, _MAV_PAYLOAD(msg), len);
#endif
}