| 1 | // MESSAGE HIL_STATE PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_HIL_STATE 90
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_hil_state_t
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| 6 | {
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| 7 | uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
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| 8 | float roll; /*< Roll angle (rad)*/
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| 9 | float pitch; /*< Pitch angle (rad)*/
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| 10 | float yaw; /*< Yaw angle (rad)*/
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| 11 | float rollspeed; /*< Body frame roll / phi angular speed (rad/s)*/
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| 12 | float pitchspeed; /*< Body frame pitch / theta angular speed (rad/s)*/
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| 13 | float yawspeed; /*< Body frame yaw / psi angular speed (rad/s)*/
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| 14 | int32_t lat; /*< Latitude, expressed as * 1E7*/
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| 15 | int32_t lon; /*< Longitude, expressed as * 1E7*/
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| 16 | int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters)*/
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| 17 | int16_t vx; /*< Ground X Speed (Latitude), expressed as m/s * 100*/
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| 18 | int16_t vy; /*< Ground Y Speed (Longitude), expressed as m/s * 100*/
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| 19 | int16_t vz; /*< Ground Z Speed (Altitude), expressed as m/s * 100*/
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| 20 | int16_t xacc; /*< X acceleration (mg)*/
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| 21 | int16_t yacc; /*< Y acceleration (mg)*/
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| 22 | int16_t zacc; /*< Z acceleration (mg)*/
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| 23 | } mavlink_hil_state_t;
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| 24 |
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| 25 | #define MAVLINK_MSG_ID_HIL_STATE_LEN 56
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| 26 | #define MAVLINK_MSG_ID_HIL_STATE_MIN_LEN 56
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| 27 | #define MAVLINK_MSG_ID_90_LEN 56
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| 28 | #define MAVLINK_MSG_ID_90_MIN_LEN 56
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| 29 |
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| 30 | #define MAVLINK_MSG_ID_HIL_STATE_CRC 183
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| 31 | #define MAVLINK_MSG_ID_90_CRC 183
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| 32 |
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| 33 |
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| 34 |
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| 35 | #if MAVLINK_COMMAND_24BIT
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| 36 | #define MAVLINK_MESSAGE_INFO_HIL_STATE { \
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| 37 | 90, \
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| 38 | "HIL_STATE", \
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| 39 | 16, \
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| 40 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
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| 41 | { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
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| 42 | { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
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| 43 | { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
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| 44 | { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
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| 45 | { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
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| 46 | { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
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| 47 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
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| 48 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
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| 49 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
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| 50 | { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
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| 51 | { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
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| 52 | { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
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| 53 | { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
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| 54 | { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
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| 55 | { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
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| 56 | } \
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| 57 | }
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| 58 | #else
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| 59 | #define MAVLINK_MESSAGE_INFO_HIL_STATE { \
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| 60 | "HIL_STATE", \
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| 61 | 16, \
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| 62 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
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| 63 | { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
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| 64 | { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
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| 65 | { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
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| 66 | { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
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| 67 | { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
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| 68 | { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
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| 69 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
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| 70 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
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| 71 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
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| 72 | { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
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| 73 | { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
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| 74 | { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
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| 75 | { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
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| 76 | { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
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| 77 | { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
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| 78 | } \
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| 79 | }
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| 80 | #endif
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| 81 |
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| 82 | /**
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| 83 | * @brief Pack a hil_state message
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| 84 | * @param system_id ID of this system
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| 85 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 86 | * @param msg The MAVLink message to compress the data into
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| 87 | *
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| 88 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 89 | * @param roll Roll angle (rad)
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| 90 | * @param pitch Pitch angle (rad)
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| 91 | * @param yaw Yaw angle (rad)
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| 92 | * @param rollspeed Body frame roll / phi angular speed (rad/s)
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| 93 | * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
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| 94 | * @param yawspeed Body frame yaw / psi angular speed (rad/s)
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| 95 | * @param lat Latitude, expressed as * 1E7
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| 96 | * @param lon Longitude, expressed as * 1E7
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| 97 | * @param alt Altitude in meters, expressed as * 1000 (millimeters)
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| 98 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100
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| 99 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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| 100 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
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| 101 | * @param xacc X acceleration (mg)
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| 102 | * @param yacc Y acceleration (mg)
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| 103 | * @param zacc Z acceleration (mg)
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| 104 | * @return length of the message in bytes (excluding serial stream start sign)
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| 105 | */
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| 106 | static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 107 | uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
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| 108 | {
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| 109 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 110 | char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
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| 111 | _mav_put_uint64_t(buf, 0, time_usec);
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| 112 | _mav_put_float(buf, 8, roll);
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| 113 | _mav_put_float(buf, 12, pitch);
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| 114 | _mav_put_float(buf, 16, yaw);
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| 115 | _mav_put_float(buf, 20, rollspeed);
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| 116 | _mav_put_float(buf, 24, pitchspeed);
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| 117 | _mav_put_float(buf, 28, yawspeed);
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| 118 | _mav_put_int32_t(buf, 32, lat);
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| 119 | _mav_put_int32_t(buf, 36, lon);
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| 120 | _mav_put_int32_t(buf, 40, alt);
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| 121 | _mav_put_int16_t(buf, 44, vx);
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| 122 | _mav_put_int16_t(buf, 46, vy);
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| 123 | _mav_put_int16_t(buf, 48, vz);
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| 124 | _mav_put_int16_t(buf, 50, xacc);
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| 125 | _mav_put_int16_t(buf, 52, yacc);
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| 126 | _mav_put_int16_t(buf, 54, zacc);
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| 127 |
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| 128 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
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| 129 | #else
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| 130 | mavlink_hil_state_t packet;
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| 131 | packet.time_usec = time_usec;
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| 132 | packet.roll = roll;
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| 133 | packet.pitch = pitch;
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| 134 | packet.yaw = yaw;
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| 135 | packet.rollspeed = rollspeed;
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| 136 | packet.pitchspeed = pitchspeed;
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| 137 | packet.yawspeed = yawspeed;
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| 138 | packet.lat = lat;
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| 139 | packet.lon = lon;
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| 140 | packet.alt = alt;
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| 141 | packet.vx = vx;
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| 142 | packet.vy = vy;
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| 143 | packet.vz = vz;
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| 144 | packet.xacc = xacc;
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| 145 | packet.yacc = yacc;
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| 146 | packet.zacc = zacc;
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| 147 |
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| 148 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
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| 149 | #endif
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| 150 |
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| 151 | msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
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| 152 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
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| 153 | }
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| 154 |
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| 155 | /**
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| 156 | * @brief Pack a hil_state message on a channel
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| 157 | * @param system_id ID of this system
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| 158 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 159 | * @param chan The MAVLink channel this message will be sent over
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| 160 | * @param msg The MAVLink message to compress the data into
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| 161 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 162 | * @param roll Roll angle (rad)
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| 163 | * @param pitch Pitch angle (rad)
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| 164 | * @param yaw Yaw angle (rad)
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| 165 | * @param rollspeed Body frame roll / phi angular speed (rad/s)
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| 166 | * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
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| 167 | * @param yawspeed Body frame yaw / psi angular speed (rad/s)
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| 168 | * @param lat Latitude, expressed as * 1E7
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| 169 | * @param lon Longitude, expressed as * 1E7
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| 170 | * @param alt Altitude in meters, expressed as * 1000 (millimeters)
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| 171 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100
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| 172 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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| 173 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
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| 174 | * @param xacc X acceleration (mg)
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| 175 | * @param yacc Y acceleration (mg)
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| 176 | * @param zacc Z acceleration (mg)
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| 177 | * @return length of the message in bytes (excluding serial stream start sign)
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| 178 | */
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| 179 | static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 180 | mavlink_message_t* msg,
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| 181 | uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
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| 182 | {
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| 183 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 184 | char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
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| 185 | _mav_put_uint64_t(buf, 0, time_usec);
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| 186 | _mav_put_float(buf, 8, roll);
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| 187 | _mav_put_float(buf, 12, pitch);
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| 188 | _mav_put_float(buf, 16, yaw);
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| 189 | _mav_put_float(buf, 20, rollspeed);
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| 190 | _mav_put_float(buf, 24, pitchspeed);
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| 191 | _mav_put_float(buf, 28, yawspeed);
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| 192 | _mav_put_int32_t(buf, 32, lat);
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| 193 | _mav_put_int32_t(buf, 36, lon);
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| 194 | _mav_put_int32_t(buf, 40, alt);
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| 195 | _mav_put_int16_t(buf, 44, vx);
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| 196 | _mav_put_int16_t(buf, 46, vy);
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| 197 | _mav_put_int16_t(buf, 48, vz);
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| 198 | _mav_put_int16_t(buf, 50, xacc);
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| 199 | _mav_put_int16_t(buf, 52, yacc);
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| 200 | _mav_put_int16_t(buf, 54, zacc);
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| 201 |
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| 202 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
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| 203 | #else
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| 204 | mavlink_hil_state_t packet;
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| 205 | packet.time_usec = time_usec;
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| 206 | packet.roll = roll;
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| 207 | packet.pitch = pitch;
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| 208 | packet.yaw = yaw;
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| 209 | packet.rollspeed = rollspeed;
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| 210 | packet.pitchspeed = pitchspeed;
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| 211 | packet.yawspeed = yawspeed;
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| 212 | packet.lat = lat;
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| 213 | packet.lon = lon;
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| 214 | packet.alt = alt;
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| 215 | packet.vx = vx;
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| 216 | packet.vy = vy;
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| 217 | packet.vz = vz;
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| 218 | packet.xacc = xacc;
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| 219 | packet.yacc = yacc;
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| 220 | packet.zacc = zacc;
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| 221 |
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| 222 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
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| 223 | #endif
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| 224 |
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| 225 | msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
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| 226 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
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| 227 | }
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| 228 |
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| 229 | /**
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| 230 | * @brief Encode a hil_state struct
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| 231 | *
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| 232 | * @param system_id ID of this system
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| 233 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 234 | * @param msg The MAVLink message to compress the data into
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| 235 | * @param hil_state C-struct to read the message contents from
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| 236 | */
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| 237 | static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
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| 238 | {
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| 239 | return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
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| 240 | }
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| 241 |
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| 242 | /**
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| 243 | * @brief Encode a hil_state struct on a channel
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| 244 | *
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| 245 | * @param system_id ID of this system
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| 246 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 247 | * @param chan The MAVLink channel this message will be sent over
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| 248 | * @param msg The MAVLink message to compress the data into
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| 249 | * @param hil_state C-struct to read the message contents from
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| 250 | */
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| 251 | static inline uint16_t mavlink_msg_hil_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
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| 252 | {
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| 253 | return mavlink_msg_hil_state_pack_chan(system_id, component_id, chan, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
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| 254 | }
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| 255 |
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| 256 | /**
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| 257 | * @brief Send a hil_state message
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| 258 | * @param chan MAVLink channel to send the message
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| 259 | *
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| 260 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 261 | * @param roll Roll angle (rad)
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| 262 | * @param pitch Pitch angle (rad)
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| 263 | * @param yaw Yaw angle (rad)
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| 264 | * @param rollspeed Body frame roll / phi angular speed (rad/s)
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| 265 | * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
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| 266 | * @param yawspeed Body frame yaw / psi angular speed (rad/s)
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| 267 | * @param lat Latitude, expressed as * 1E7
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| 268 | * @param lon Longitude, expressed as * 1E7
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| 269 | * @param alt Altitude in meters, expressed as * 1000 (millimeters)
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| 270 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100
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| 271 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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| 272 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
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| 273 | * @param xacc X acceleration (mg)
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| 274 | * @param yacc Y acceleration (mg)
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| 275 | * @param zacc Z acceleration (mg)
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| 276 | */
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| 277 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 278 |
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| 279 | static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
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| 280 | {
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| 281 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 282 | char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
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| 283 | _mav_put_uint64_t(buf, 0, time_usec);
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| 284 | _mav_put_float(buf, 8, roll);
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| 285 | _mav_put_float(buf, 12, pitch);
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| 286 | _mav_put_float(buf, 16, yaw);
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| 287 | _mav_put_float(buf, 20, rollspeed);
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| 288 | _mav_put_float(buf, 24, pitchspeed);
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| 289 | _mav_put_float(buf, 28, yawspeed);
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| 290 | _mav_put_int32_t(buf, 32, lat);
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| 291 | _mav_put_int32_t(buf, 36, lon);
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| 292 | _mav_put_int32_t(buf, 40, alt);
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| 293 | _mav_put_int16_t(buf, 44, vx);
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| 294 | _mav_put_int16_t(buf, 46, vy);
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| 295 | _mav_put_int16_t(buf, 48, vz);
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| 296 | _mav_put_int16_t(buf, 50, xacc);
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| 297 | _mav_put_int16_t(buf, 52, yacc);
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| 298 | _mav_put_int16_t(buf, 54, zacc);
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| 299 |
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| 300 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
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| 301 | #else
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| 302 | mavlink_hil_state_t packet;
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| 303 | packet.time_usec = time_usec;
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| 304 | packet.roll = roll;
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| 305 | packet.pitch = pitch;
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| 306 | packet.yaw = yaw;
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| 307 | packet.rollspeed = rollspeed;
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| 308 | packet.pitchspeed = pitchspeed;
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| 309 | packet.yawspeed = yawspeed;
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| 310 | packet.lat = lat;
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| 311 | packet.lon = lon;
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| 312 | packet.alt = alt;
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| 313 | packet.vx = vx;
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| 314 | packet.vy = vy;
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| 315 | packet.vz = vz;
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| 316 | packet.xacc = xacc;
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| 317 | packet.yacc = yacc;
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| 318 | packet.zacc = zacc;
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| 319 |
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| 320 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
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| 321 | #endif
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| 322 | }
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| 323 |
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| 324 | /**
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| 325 | * @brief Send a hil_state message
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| 326 | * @param chan MAVLink channel to send the message
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| 327 | * @param struct The MAVLink struct to serialize
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| 328 | */
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| 329 | static inline void mavlink_msg_hil_state_send_struct(mavlink_channel_t chan, const mavlink_hil_state_t* hil_state)
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| 330 | {
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| 331 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 332 | mavlink_msg_hil_state_send(chan, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
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| 333 | #else
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| 334 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)hil_state, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
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| 335 | #endif
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| 336 | }
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| 337 |
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| 338 | #if MAVLINK_MSG_ID_HIL_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 339 | /*
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| 340 | This varient of _send() can be used to save stack space by re-using
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| 341 | memory from the receive buffer. The caller provides a
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| 342 | mavlink_message_t which is the size of a full mavlink message. This
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| 343 | is usually the receive buffer for the channel, and allows a reply to an
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| 344 | incoming message with minimum stack space usage.
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| 345 | */
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| 346 | static inline void mavlink_msg_hil_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
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| 347 | {
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| 348 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 349 | char *buf = (char *)msgbuf;
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| 350 | _mav_put_uint64_t(buf, 0, time_usec);
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| 351 | _mav_put_float(buf, 8, roll);
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| 352 | _mav_put_float(buf, 12, pitch);
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| 353 | _mav_put_float(buf, 16, yaw);
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| 354 | _mav_put_float(buf, 20, rollspeed);
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| 355 | _mav_put_float(buf, 24, pitchspeed);
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| 356 | _mav_put_float(buf, 28, yawspeed);
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| 357 | _mav_put_int32_t(buf, 32, lat);
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| 358 | _mav_put_int32_t(buf, 36, lon);
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| 359 | _mav_put_int32_t(buf, 40, alt);
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| 360 | _mav_put_int16_t(buf, 44, vx);
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| 361 | _mav_put_int16_t(buf, 46, vy);
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| 362 | _mav_put_int16_t(buf, 48, vz);
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| 363 | _mav_put_int16_t(buf, 50, xacc);
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| 364 | _mav_put_int16_t(buf, 52, yacc);
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| 365 | _mav_put_int16_t(buf, 54, zacc);
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| 366 |
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| 367 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
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| 368 | #else
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| 369 | mavlink_hil_state_t *packet = (mavlink_hil_state_t *)msgbuf;
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| 370 | packet->time_usec = time_usec;
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| 371 | packet->roll = roll;
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| 372 | packet->pitch = pitch;
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| 373 | packet->yaw = yaw;
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| 374 | packet->rollspeed = rollspeed;
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| 375 | packet->pitchspeed = pitchspeed;
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| 376 | packet->yawspeed = yawspeed;
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| 377 | packet->lat = lat;
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| 378 | packet->lon = lon;
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| 379 | packet->alt = alt;
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| 380 | packet->vx = vx;
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| 381 | packet->vy = vy;
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| 382 | packet->vz = vz;
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| 383 | packet->xacc = xacc;
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| 384 | packet->yacc = yacc;
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| 385 | packet->zacc = zacc;
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| 386 |
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| 387 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
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| 388 | #endif
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| 389 | }
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| 390 | #endif
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| 391 |
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| 392 | #endif
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| 393 |
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| 394 | // MESSAGE HIL_STATE UNPACKING
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| 395 |
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| 396 |
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| 397 | /**
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| 398 | * @brief Get field time_usec from hil_state message
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| 399 | *
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| 400 | * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 401 | */
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| 402 | static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg)
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| 403 | {
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| 404 | return _MAV_RETURN_uint64_t(msg, 0);
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| 405 | }
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| 406 |
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| 407 | /**
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|---|
| 408 | * @brief Get field roll from hil_state message
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| 409 | *
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|---|
| 410 | * @return Roll angle (rad)
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| 411 | */
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| 412 | static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
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| 413 | {
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| 414 | return _MAV_RETURN_float(msg, 8);
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| 415 | }
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| 416 |
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| 417 | /**
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| 418 | * @brief Get field pitch from hil_state message
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| 419 | *
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| 420 | * @return Pitch angle (rad)
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| 421 | */
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| 422 | static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
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| 423 | {
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| 424 | return _MAV_RETURN_float(msg, 12);
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| 425 | }
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| 426 |
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| 427 | /**
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| 428 | * @brief Get field yaw from hil_state message
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| 429 | *
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| 430 | * @return Yaw angle (rad)
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|---|
| 431 | */
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| 432 | static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
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| 433 | {
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| 434 | return _MAV_RETURN_float(msg, 16);
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| 435 | }
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| 436 |
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| 437 | /**
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|---|
| 438 | * @brief Get field rollspeed from hil_state message
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| 439 | *
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| 440 | * @return Body frame roll / phi angular speed (rad/s)
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| 441 | */
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| 442 | static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
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| 443 | {
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|---|
| 444 | return _MAV_RETURN_float(msg, 20);
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| 445 | }
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| 446 |
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| 447 | /**
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|---|
| 448 | * @brief Get field pitchspeed from hil_state message
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|---|
| 449 | *
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|---|
| 450 | * @return Body frame pitch / theta angular speed (rad/s)
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| 451 | */
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| 452 | static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
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| 453 | {
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|---|
| 454 | return _MAV_RETURN_float(msg, 24);
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| 455 | }
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| 456 |
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| 457 | /**
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|---|
| 458 | * @brief Get field yawspeed from hil_state message
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|---|
| 459 | *
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| 460 | * @return Body frame yaw / psi angular speed (rad/s)
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|---|
| 461 | */
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| 462 | static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
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| 463 | {
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|---|
| 464 | return _MAV_RETURN_float(msg, 28);
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| 465 | }
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|---|
| 466 |
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|---|
| 467 | /**
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|---|
| 468 | * @brief Get field lat from hil_state message
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|---|
| 469 | *
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|---|
| 470 | * @return Latitude, expressed as * 1E7
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|---|
| 471 | */
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|---|
| 472 | static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
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| 473 | {
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|---|
| 474 | return _MAV_RETURN_int32_t(msg, 32);
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|---|
| 475 | }
|
|---|
| 476 |
|
|---|
| 477 | /**
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|---|
| 478 | * @brief Get field lon from hil_state message
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|---|
| 479 | *
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|---|
| 480 | * @return Longitude, expressed as * 1E7
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|---|
| 481 | */
|
|---|
| 482 | static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
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|---|
| 483 | {
|
|---|
| 484 | return _MAV_RETURN_int32_t(msg, 36);
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|---|
| 485 | }
|
|---|
| 486 |
|
|---|
| 487 | /**
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|---|
| 488 | * @brief Get field alt from hil_state message
|
|---|
| 489 | *
|
|---|
| 490 | * @return Altitude in meters, expressed as * 1000 (millimeters)
|
|---|
| 491 | */
|
|---|
| 492 | static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
|
|---|
| 493 | {
|
|---|
| 494 | return _MAV_RETURN_int32_t(msg, 40);
|
|---|
| 495 | }
|
|---|
| 496 |
|
|---|
| 497 | /**
|
|---|
| 498 | * @brief Get field vx from hil_state message
|
|---|
| 499 | *
|
|---|
| 500 | * @return Ground X Speed (Latitude), expressed as m/s * 100
|
|---|
| 501 | */
|
|---|
| 502 | static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
|
|---|
| 503 | {
|
|---|
| 504 | return _MAV_RETURN_int16_t(msg, 44);
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|---|
| 505 | }
|
|---|
| 506 |
|
|---|
| 507 | /**
|
|---|
| 508 | * @brief Get field vy from hil_state message
|
|---|
| 509 | *
|
|---|
| 510 | * @return Ground Y Speed (Longitude), expressed as m/s * 100
|
|---|
| 511 | */
|
|---|
| 512 | static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
|
|---|
| 513 | {
|
|---|
| 514 | return _MAV_RETURN_int16_t(msg, 46);
|
|---|
| 515 | }
|
|---|
| 516 |
|
|---|
| 517 | /**
|
|---|
| 518 | * @brief Get field vz from hil_state message
|
|---|
| 519 | *
|
|---|
| 520 | * @return Ground Z Speed (Altitude), expressed as m/s * 100
|
|---|
| 521 | */
|
|---|
| 522 | static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
|
|---|
| 523 | {
|
|---|
| 524 | return _MAV_RETURN_int16_t(msg, 48);
|
|---|
| 525 | }
|
|---|
| 526 |
|
|---|
| 527 | /**
|
|---|
| 528 | * @brief Get field xacc from hil_state message
|
|---|
| 529 | *
|
|---|
| 530 | * @return X acceleration (mg)
|
|---|
| 531 | */
|
|---|
| 532 | static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
|
|---|
| 533 | {
|
|---|
| 534 | return _MAV_RETURN_int16_t(msg, 50);
|
|---|
| 535 | }
|
|---|
| 536 |
|
|---|
| 537 | /**
|
|---|
| 538 | * @brief Get field yacc from hil_state message
|
|---|
| 539 | *
|
|---|
| 540 | * @return Y acceleration (mg)
|
|---|
| 541 | */
|
|---|
| 542 | static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
|
|---|
| 543 | {
|
|---|
| 544 | return _MAV_RETURN_int16_t(msg, 52);
|
|---|
| 545 | }
|
|---|
| 546 |
|
|---|
| 547 | /**
|
|---|
| 548 | * @brief Get field zacc from hil_state message
|
|---|
| 549 | *
|
|---|
| 550 | * @return Z acceleration (mg)
|
|---|
| 551 | */
|
|---|
| 552 | static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
|
|---|
| 553 | {
|
|---|
| 554 | return _MAV_RETURN_int16_t(msg, 54);
|
|---|
| 555 | }
|
|---|
| 556 |
|
|---|
| 557 | /**
|
|---|
| 558 | * @brief Decode a hil_state message into a struct
|
|---|
| 559 | *
|
|---|
| 560 | * @param msg The message to decode
|
|---|
| 561 | * @param hil_state C-struct to decode the message contents into
|
|---|
| 562 | */
|
|---|
| 563 | static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
|
|---|
| 564 | {
|
|---|
| 565 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|---|
| 566 | hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg);
|
|---|
| 567 | hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
|
|---|
| 568 | hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
|
|---|
| 569 | hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
|
|---|
| 570 | hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
|
|---|
| 571 | hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
|
|---|
| 572 | hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
|
|---|
| 573 | hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
|
|---|
| 574 | hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
|
|---|
| 575 | hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
|
|---|
| 576 | hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
|
|---|
| 577 | hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
|
|---|
| 578 | hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
|
|---|
| 579 | hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
|
|---|
| 580 | hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
|
|---|
| 581 | hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
|
|---|
| 582 | #else
|
|---|
| 583 | uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_STATE_LEN? msg->len : MAVLINK_MSG_ID_HIL_STATE_LEN;
|
|---|
| 584 | memset(hil_state, 0, MAVLINK_MSG_ID_HIL_STATE_LEN);
|
|---|
| 585 | memcpy(hil_state, _MAV_PAYLOAD(msg), len);
|
|---|
| 586 | #endif
|
|---|
| 587 | }
|
|---|
