source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/include/common/mavlink_msg_highres_imu.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: 22.9 KB
Line 
1// MESSAGE HIGHRES_IMU PACKING
2
3#define MAVLINK_MSG_ID_HIGHRES_IMU 105
4
5typedef struct MAVLINK_PACKED __mavlink_highres_imu_t
6{
7 uint64_t time_usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
8 float xacc; /*< X acceleration (m/s^2)*/
9 float yacc; /*< Y acceleration (m/s^2)*/
10 float zacc; /*< Z acceleration (m/s^2)*/
11 float xgyro; /*< Angular speed around X axis (rad / sec)*/
12 float ygyro; /*< Angular speed around Y axis (rad / sec)*/
13 float zgyro; /*< Angular speed around Z axis (rad / sec)*/
14 float xmag; /*< X Magnetic field (Gauss)*/
15 float ymag; /*< Y Magnetic field (Gauss)*/
16 float zmag; /*< Z Magnetic field (Gauss)*/
17 float abs_pressure; /*< Absolute pressure in millibar*/
18 float diff_pressure; /*< Differential pressure in millibar*/
19 float pressure_alt; /*< Altitude calculated from pressure*/
20 float temperature; /*< Temperature in degrees celsius*/
21 uint16_t fields_updated; /*< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature*/
22} mavlink_highres_imu_t;
23
24#define MAVLINK_MSG_ID_HIGHRES_IMU_LEN 62
25#define MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN 62
26#define MAVLINK_MSG_ID_105_LEN 62
27#define MAVLINK_MSG_ID_105_MIN_LEN 62
28
29#define MAVLINK_MSG_ID_HIGHRES_IMU_CRC 93
30#define MAVLINK_MSG_ID_105_CRC 93
31
32
33
34#if MAVLINK_COMMAND_24BIT
35#define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
36 105, \
37 "HIGHRES_IMU", \
38 15, \
39 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \
40 { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
41 { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
42 { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
43 { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \
44 { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \
45 { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \
46 { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \
47 { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \
48 { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \
49 { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \
50 { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \
51 { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \
52 { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \
53 { "fields_updated", NULL, MAVLINK_TYPE_UINT16_T, 0, 60, offsetof(mavlink_highres_imu_t, fields_updated) }, \
54 } \
55}
56#else
57#define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
58 "HIGHRES_IMU", \
59 15, \
60 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \
61 { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
62 { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
63 { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
64 { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \
65 { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \
66 { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \
67 { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \
68 { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \
69 { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \
70 { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \
71 { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \
72 { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \
73 { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \
74 { "fields_updated", NULL, MAVLINK_TYPE_UINT16_T, 0, 60, offsetof(mavlink_highres_imu_t, fields_updated) }, \
75 } \
76}
77#endif
78
79/**
80 * @brief Pack a highres_imu message
81 * @param system_id ID of this system
82 * @param component_id ID of this component (e.g. 200 for IMU)
83 * @param msg The MAVLink message to compress the data into
84 *
85 * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
86 * @param xacc X acceleration (m/s^2)
87 * @param yacc Y acceleration (m/s^2)
88 * @param zacc Z acceleration (m/s^2)
89 * @param xgyro Angular speed around X axis (rad / sec)
90 * @param ygyro Angular speed around Y axis (rad / sec)
91 * @param zgyro Angular speed around Z axis (rad / sec)
92 * @param xmag X Magnetic field (Gauss)
93 * @param ymag Y Magnetic field (Gauss)
94 * @param zmag Z Magnetic field (Gauss)
95 * @param abs_pressure Absolute pressure in millibar
96 * @param diff_pressure Differential pressure in millibar
97 * @param pressure_alt Altitude calculated from pressure
98 * @param temperature Temperature in degrees celsius
99 * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
100 * @return length of the message in bytes (excluding serial stream start sign)
101 */
102static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
103 uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
104{
105#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
106 char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
107 _mav_put_uint64_t(buf, 0, time_usec);
108 _mav_put_float(buf, 8, xacc);
109 _mav_put_float(buf, 12, yacc);
110 _mav_put_float(buf, 16, zacc);
111 _mav_put_float(buf, 20, xgyro);
112 _mav_put_float(buf, 24, ygyro);
113 _mav_put_float(buf, 28, zgyro);
114 _mav_put_float(buf, 32, xmag);
115 _mav_put_float(buf, 36, ymag);
116 _mav_put_float(buf, 40, zmag);
117 _mav_put_float(buf, 44, abs_pressure);
118 _mav_put_float(buf, 48, diff_pressure);
119 _mav_put_float(buf, 52, pressure_alt);
120 _mav_put_float(buf, 56, temperature);
121 _mav_put_uint16_t(buf, 60, fields_updated);
122
123 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
124#else
125 mavlink_highres_imu_t packet;
126 packet.time_usec = time_usec;
127 packet.xacc = xacc;
128 packet.yacc = yacc;
129 packet.zacc = zacc;
130 packet.xgyro = xgyro;
131 packet.ygyro = ygyro;
132 packet.zgyro = zgyro;
133 packet.xmag = xmag;
134 packet.ymag = ymag;
135 packet.zmag = zmag;
136 packet.abs_pressure = abs_pressure;
137 packet.diff_pressure = diff_pressure;
138 packet.pressure_alt = pressure_alt;
139 packet.temperature = temperature;
140 packet.fields_updated = fields_updated;
141
142 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
143#endif
144
145 msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
146 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
147}
148
149/**
150 * @brief Pack a highres_imu message on a channel
151 * @param system_id ID of this system
152 * @param component_id ID of this component (e.g. 200 for IMU)
153 * @param chan The MAVLink channel this message will be sent over
154 * @param msg The MAVLink message to compress the data into
155 * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
156 * @param xacc X acceleration (m/s^2)
157 * @param yacc Y acceleration (m/s^2)
158 * @param zacc Z acceleration (m/s^2)
159 * @param xgyro Angular speed around X axis (rad / sec)
160 * @param ygyro Angular speed around Y axis (rad / sec)
161 * @param zgyro Angular speed around Z axis (rad / sec)
162 * @param xmag X Magnetic field (Gauss)
163 * @param ymag Y Magnetic field (Gauss)
164 * @param zmag Z Magnetic field (Gauss)
165 * @param abs_pressure Absolute pressure in millibar
166 * @param diff_pressure Differential pressure in millibar
167 * @param pressure_alt Altitude calculated from pressure
168 * @param temperature Temperature in degrees celsius
169 * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
170 * @return length of the message in bytes (excluding serial stream start sign)
171 */
172static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
173 mavlink_message_t* msg,
174 uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint16_t fields_updated)
175{
176#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
177 char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
178 _mav_put_uint64_t(buf, 0, time_usec);
179 _mav_put_float(buf, 8, xacc);
180 _mav_put_float(buf, 12, yacc);
181 _mav_put_float(buf, 16, zacc);
182 _mav_put_float(buf, 20, xgyro);
183 _mav_put_float(buf, 24, ygyro);
184 _mav_put_float(buf, 28, zgyro);
185 _mav_put_float(buf, 32, xmag);
186 _mav_put_float(buf, 36, ymag);
187 _mav_put_float(buf, 40, zmag);
188 _mav_put_float(buf, 44, abs_pressure);
189 _mav_put_float(buf, 48, diff_pressure);
190 _mav_put_float(buf, 52, pressure_alt);
191 _mav_put_float(buf, 56, temperature);
192 _mav_put_uint16_t(buf, 60, fields_updated);
193
194 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
195#else
196 mavlink_highres_imu_t packet;
197 packet.time_usec = time_usec;
198 packet.xacc = xacc;
199 packet.yacc = yacc;
200 packet.zacc = zacc;
201 packet.xgyro = xgyro;
202 packet.ygyro = ygyro;
203 packet.zgyro = zgyro;
204 packet.xmag = xmag;
205 packet.ymag = ymag;
206 packet.zmag = zmag;
207 packet.abs_pressure = abs_pressure;
208 packet.diff_pressure = diff_pressure;
209 packet.pressure_alt = pressure_alt;
210 packet.temperature = temperature;
211 packet.fields_updated = fields_updated;
212
213 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
214#endif
215
216 msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
217 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
218}
219
220/**
221 * @brief Encode a highres_imu struct
222 *
223 * @param system_id ID of this system
224 * @param component_id ID of this component (e.g. 200 for IMU)
225 * @param msg The MAVLink message to compress the data into
226 * @param highres_imu C-struct to read the message contents from
227 */
228static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
229{
230 return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
231}
232
233/**
234 * @brief Encode a highres_imu struct on a channel
235 *
236 * @param system_id ID of this system
237 * @param component_id ID of this component (e.g. 200 for IMU)
238 * @param chan The MAVLink channel this message will be sent over
239 * @param msg The MAVLink message to compress the data into
240 * @param highres_imu C-struct to read the message contents from
241 */
242static inline uint16_t mavlink_msg_highres_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
243{
244 return mavlink_msg_highres_imu_pack_chan(system_id, component_id, chan, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
245}
246
247/**
248 * @brief Send a highres_imu message
249 * @param chan MAVLink channel to send the message
250 *
251 * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
252 * @param xacc X acceleration (m/s^2)
253 * @param yacc Y acceleration (m/s^2)
254 * @param zacc Z acceleration (m/s^2)
255 * @param xgyro Angular speed around X axis (rad / sec)
256 * @param ygyro Angular speed around Y axis (rad / sec)
257 * @param zgyro Angular speed around Z axis (rad / sec)
258 * @param xmag X Magnetic field (Gauss)
259 * @param ymag Y Magnetic field (Gauss)
260 * @param zmag Z Magnetic field (Gauss)
261 * @param abs_pressure Absolute pressure in millibar
262 * @param diff_pressure Differential pressure in millibar
263 * @param pressure_alt Altitude calculated from pressure
264 * @param temperature Temperature in degrees celsius
265 * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
266 */
267#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
268
269static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
270{
271#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
272 char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
273 _mav_put_uint64_t(buf, 0, time_usec);
274 _mav_put_float(buf, 8, xacc);
275 _mav_put_float(buf, 12, yacc);
276 _mav_put_float(buf, 16, zacc);
277 _mav_put_float(buf, 20, xgyro);
278 _mav_put_float(buf, 24, ygyro);
279 _mav_put_float(buf, 28, zgyro);
280 _mav_put_float(buf, 32, xmag);
281 _mav_put_float(buf, 36, ymag);
282 _mav_put_float(buf, 40, zmag);
283 _mav_put_float(buf, 44, abs_pressure);
284 _mav_put_float(buf, 48, diff_pressure);
285 _mav_put_float(buf, 52, pressure_alt);
286 _mav_put_float(buf, 56, temperature);
287 _mav_put_uint16_t(buf, 60, fields_updated);
288
289 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
290#else
291 mavlink_highres_imu_t packet;
292 packet.time_usec = time_usec;
293 packet.xacc = xacc;
294 packet.yacc = yacc;
295 packet.zacc = zacc;
296 packet.xgyro = xgyro;
297 packet.ygyro = ygyro;
298 packet.zgyro = zgyro;
299 packet.xmag = xmag;
300 packet.ymag = ymag;
301 packet.zmag = zmag;
302 packet.abs_pressure = abs_pressure;
303 packet.diff_pressure = diff_pressure;
304 packet.pressure_alt = pressure_alt;
305 packet.temperature = temperature;
306 packet.fields_updated = fields_updated;
307
308 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
309#endif
310}
311
312/**
313 * @brief Send a highres_imu message
314 * @param chan MAVLink channel to send the message
315 * @param struct The MAVLink struct to serialize
316 */
317static inline void mavlink_msg_highres_imu_send_struct(mavlink_channel_t chan, const mavlink_highres_imu_t* highres_imu)
318{
319#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
320 mavlink_msg_highres_imu_send(chan, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
321#else
322 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)highres_imu, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
323#endif
324}
325
326#if MAVLINK_MSG_ID_HIGHRES_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN
327/*
328 This varient of _send() can be used to save stack space by re-using
329 memory from the receive buffer. The caller provides a
330 mavlink_message_t which is the size of a full mavlink message. This
331 is usually the receive buffer for the channel, and allows a reply to an
332 incoming message with minimum stack space usage.
333 */
334static inline void mavlink_msg_highres_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
335{
336#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
337 char *buf = (char *)msgbuf;
338 _mav_put_uint64_t(buf, 0, time_usec);
339 _mav_put_float(buf, 8, xacc);
340 _mav_put_float(buf, 12, yacc);
341 _mav_put_float(buf, 16, zacc);
342 _mav_put_float(buf, 20, xgyro);
343 _mav_put_float(buf, 24, ygyro);
344 _mav_put_float(buf, 28, zgyro);
345 _mav_put_float(buf, 32, xmag);
346 _mav_put_float(buf, 36, ymag);
347 _mav_put_float(buf, 40, zmag);
348 _mav_put_float(buf, 44, abs_pressure);
349 _mav_put_float(buf, 48, diff_pressure);
350 _mav_put_float(buf, 52, pressure_alt);
351 _mav_put_float(buf, 56, temperature);
352 _mav_put_uint16_t(buf, 60, fields_updated);
353
354 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
355#else
356 mavlink_highres_imu_t *packet = (mavlink_highres_imu_t *)msgbuf;
357 packet->time_usec = time_usec;
358 packet->xacc = xacc;
359 packet->yacc = yacc;
360 packet->zacc = zacc;
361 packet->xgyro = xgyro;
362 packet->ygyro = ygyro;
363 packet->zgyro = zgyro;
364 packet->xmag = xmag;
365 packet->ymag = ymag;
366 packet->zmag = zmag;
367 packet->abs_pressure = abs_pressure;
368 packet->diff_pressure = diff_pressure;
369 packet->pressure_alt = pressure_alt;
370 packet->temperature = temperature;
371 packet->fields_updated = fields_updated;
372
373 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)packet, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
374#endif
375}
376#endif
377
378#endif
379
380// MESSAGE HIGHRES_IMU UNPACKING
381
382
383/**
384 * @brief Get field time_usec from highres_imu message
385 *
386 * @return Timestamp (microseconds, synced to UNIX time or since system boot)
387 */
388static inline uint64_t mavlink_msg_highres_imu_get_time_usec(const mavlink_message_t* msg)
389{
390 return _MAV_RETURN_uint64_t(msg, 0);
391}
392
393/**
394 * @brief Get field xacc from highres_imu message
395 *
396 * @return X acceleration (m/s^2)
397 */
398static inline float mavlink_msg_highres_imu_get_xacc(const mavlink_message_t* msg)
399{
400 return _MAV_RETURN_float(msg, 8);
401}
402
403/**
404 * @brief Get field yacc from highres_imu message
405 *
406 * @return Y acceleration (m/s^2)
407 */
408static inline float mavlink_msg_highres_imu_get_yacc(const mavlink_message_t* msg)
409{
410 return _MAV_RETURN_float(msg, 12);
411}
412
413/**
414 * @brief Get field zacc from highres_imu message
415 *
416 * @return Z acceleration (m/s^2)
417 */
418static inline float mavlink_msg_highres_imu_get_zacc(const mavlink_message_t* msg)
419{
420 return _MAV_RETURN_float(msg, 16);
421}
422
423/**
424 * @brief Get field xgyro from highres_imu message
425 *
426 * @return Angular speed around X axis (rad / sec)
427 */
428static inline float mavlink_msg_highres_imu_get_xgyro(const mavlink_message_t* msg)
429{
430 return _MAV_RETURN_float(msg, 20);
431}
432
433/**
434 * @brief Get field ygyro from highres_imu message
435 *
436 * @return Angular speed around Y axis (rad / sec)
437 */
438static inline float mavlink_msg_highres_imu_get_ygyro(const mavlink_message_t* msg)
439{
440 return _MAV_RETURN_float(msg, 24);
441}
442
443/**
444 * @brief Get field zgyro from highres_imu message
445 *
446 * @return Angular speed around Z axis (rad / sec)
447 */
448static inline float mavlink_msg_highres_imu_get_zgyro(const mavlink_message_t* msg)
449{
450 return _MAV_RETURN_float(msg, 28);
451}
452
453/**
454 * @brief Get field xmag from highres_imu message
455 *
456 * @return X Magnetic field (Gauss)
457 */
458static inline float mavlink_msg_highres_imu_get_xmag(const mavlink_message_t* msg)
459{
460 return _MAV_RETURN_float(msg, 32);
461}
462
463/**
464 * @brief Get field ymag from highres_imu message
465 *
466 * @return Y Magnetic field (Gauss)
467 */
468static inline float mavlink_msg_highres_imu_get_ymag(const mavlink_message_t* msg)
469{
470 return _MAV_RETURN_float(msg, 36);
471}
472
473/**
474 * @brief Get field zmag from highres_imu message
475 *
476 * @return Z Magnetic field (Gauss)
477 */
478static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* msg)
479{
480 return _MAV_RETURN_float(msg, 40);
481}
482
483/**
484 * @brief Get field abs_pressure from highres_imu message
485 *
486 * @return Absolute pressure in millibar
487 */
488static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg)
489{
490 return _MAV_RETURN_float(msg, 44);
491}
492
493/**
494 * @brief Get field diff_pressure from highres_imu message
495 *
496 * @return Differential pressure in millibar
497 */
498static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg)
499{
500 return _MAV_RETURN_float(msg, 48);
501}
502
503/**
504 * @brief Get field pressure_alt from highres_imu message
505 *
506 * @return Altitude calculated from pressure
507 */
508static inline float mavlink_msg_highres_imu_get_pressure_alt(const mavlink_message_t* msg)
509{
510 return _MAV_RETURN_float(msg, 52);
511}
512
513/**
514 * @brief Get field temperature from highres_imu message
515 *
516 * @return Temperature in degrees celsius
517 */
518static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_message_t* msg)
519{
520 return _MAV_RETURN_float(msg, 56);
521}
522
523/**
524 * @brief Get field fields_updated from highres_imu message
525 *
526 * @return Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
527 */
528static inline uint16_t mavlink_msg_highres_imu_get_fields_updated(const mavlink_message_t* msg)
529{
530 return _MAV_RETURN_uint16_t(msg, 60);
531}
532
533/**
534 * @brief Decode a highres_imu message into a struct
535 *
536 * @param msg The message to decode
537 * @param highres_imu C-struct to decode the message contents into
538 */
539static inline void mavlink_msg_highres_imu_decode(const mavlink_message_t* msg, mavlink_highres_imu_t* highres_imu)
540{
541#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
542 highres_imu->time_usec = mavlink_msg_highres_imu_get_time_usec(msg);
543 highres_imu->xacc = mavlink_msg_highres_imu_get_xacc(msg);
544 highres_imu->yacc = mavlink_msg_highres_imu_get_yacc(msg);
545 highres_imu->zacc = mavlink_msg_highres_imu_get_zacc(msg);
546 highres_imu->xgyro = mavlink_msg_highres_imu_get_xgyro(msg);
547 highres_imu->ygyro = mavlink_msg_highres_imu_get_ygyro(msg);
548 highres_imu->zgyro = mavlink_msg_highres_imu_get_zgyro(msg);
549 highres_imu->xmag = mavlink_msg_highres_imu_get_xmag(msg);
550 highres_imu->ymag = mavlink_msg_highres_imu_get_ymag(msg);
551 highres_imu->zmag = mavlink_msg_highres_imu_get_zmag(msg);
552 highres_imu->abs_pressure = mavlink_msg_highres_imu_get_abs_pressure(msg);
553 highres_imu->diff_pressure = mavlink_msg_highres_imu_get_diff_pressure(msg);
554 highres_imu->pressure_alt = mavlink_msg_highres_imu_get_pressure_alt(msg);
555 highres_imu->temperature = mavlink_msg_highres_imu_get_temperature(msg);
556 highres_imu->fields_updated = mavlink_msg_highres_imu_get_fields_updated(msg);
557#else
558 uint8_t len = msg->len < MAVLINK_MSG_ID_HIGHRES_IMU_LEN? msg->len : MAVLINK_MSG_ID_HIGHRES_IMU_LEN;
559 memset(highres_imu, 0, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
560 memcpy(highres_imu, _MAV_PAYLOAD(msg), len);
561#endif
562}
Note: See TracBrowser for help on using the repository browser.