| 1 | // MESSAGE HIL_STATE_QUATERNION PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION 115
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_hil_state_quaternion_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 attitude_quaternion[4]; /*< Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)*/
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| 9 | float rollspeed; /*< Body frame roll / phi angular speed (rad/s)*/
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| 10 | float pitchspeed; /*< Body frame pitch / theta angular speed (rad/s)*/
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| 11 | float yawspeed; /*< Body frame yaw / psi angular speed (rad/s)*/
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| 12 | int32_t lat; /*< Latitude, expressed as * 1E7*/
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| 13 | int32_t lon; /*< Longitude, expressed as * 1E7*/
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| 14 | int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters)*/
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| 15 | int16_t vx; /*< Ground X Speed (Latitude), expressed as m/s * 100*/
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| 16 | int16_t vy; /*< Ground Y Speed (Longitude), expressed as m/s * 100*/
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| 17 | int16_t vz; /*< Ground Z Speed (Altitude), expressed as m/s * 100*/
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| 18 | uint16_t ind_airspeed; /*< Indicated airspeed, expressed as m/s * 100*/
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| 19 | uint16_t true_airspeed; /*< True airspeed, 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_quaternion_t;
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| 24 |
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| 25 | #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN 64
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| 26 | #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN 64
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| 27 | #define MAVLINK_MSG_ID_115_LEN 64
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| 28 | #define MAVLINK_MSG_ID_115_MIN_LEN 64
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| 29 |
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| 30 | #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC 4
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| 31 | #define MAVLINK_MSG_ID_115_CRC 4
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| 32 |
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| 33 | #define MAVLINK_MSG_HIL_STATE_QUATERNION_FIELD_ATTITUDE_QUATERNION_LEN 4
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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_QUATERNION { \
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| 37 | 115, \
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| 38 | "HIL_STATE_QUATERNION", \
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| 39 | 16, \
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| 40 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \
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| 41 | { "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \
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| 42 | { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \
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| 43 | { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \
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| 44 | { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \
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| 45 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \
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| 46 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \
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| 47 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \
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| 48 | { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \
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| 49 | { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \
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| 50 | { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \
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| 51 | { "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \
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| 52 | { "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \
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| 53 | { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \
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| 54 | { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \
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| 55 | { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_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_QUATERNION { \
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| 60 | "HIL_STATE_QUATERNION", \
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| 61 | 16, \
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| 62 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \
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| 63 | { "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \
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| 64 | { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \
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| 65 | { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \
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| 66 | { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \
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| 67 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \
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| 68 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \
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| 69 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \
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| 70 | { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \
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| 71 | { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \
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| 72 | { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \
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| 73 | { "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \
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| 74 | { "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \
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| 75 | { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \
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| 76 | { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \
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| 77 | { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_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_quaternion 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 attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
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| 90 | * @param rollspeed Body frame roll / phi angular speed (rad/s)
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| 91 | * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
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| 92 | * @param yawspeed Body frame yaw / psi angular speed (rad/s)
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| 93 | * @param lat Latitude, expressed as * 1E7
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| 94 | * @param lon Longitude, expressed as * 1E7
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| 95 | * @param alt Altitude in meters, expressed as * 1000 (millimeters)
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| 96 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100
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| 97 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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| 98 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
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| 99 | * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
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| 100 | * @param true_airspeed True airspeed, 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_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 107 | uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, 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_QUATERNION_LEN];
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| 111 | _mav_put_uint64_t(buf, 0, time_usec);
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| 112 | _mav_put_float(buf, 24, rollspeed);
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| 113 | _mav_put_float(buf, 28, pitchspeed);
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| 114 | _mav_put_float(buf, 32, yawspeed);
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| 115 | _mav_put_int32_t(buf, 36, lat);
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| 116 | _mav_put_int32_t(buf, 40, lon);
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| 117 | _mav_put_int32_t(buf, 44, alt);
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| 118 | _mav_put_int16_t(buf, 48, vx);
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| 119 | _mav_put_int16_t(buf, 50, vy);
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| 120 | _mav_put_int16_t(buf, 52, vz);
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| 121 | _mav_put_uint16_t(buf, 54, ind_airspeed);
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| 122 | _mav_put_uint16_t(buf, 56, true_airspeed);
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| 123 | _mav_put_int16_t(buf, 58, xacc);
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| 124 | _mav_put_int16_t(buf, 60, yacc);
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| 125 | _mav_put_int16_t(buf, 62, zacc);
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| 126 | _mav_put_float_array(buf, 8, attitude_quaternion, 4);
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| 127 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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| 128 | #else
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| 129 | mavlink_hil_state_quaternion_t packet;
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| 130 | packet.time_usec = time_usec;
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| 131 | packet.rollspeed = rollspeed;
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| 132 | packet.pitchspeed = pitchspeed;
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| 133 | packet.yawspeed = yawspeed;
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| 134 | packet.lat = lat;
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| 135 | packet.lon = lon;
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| 136 | packet.alt = alt;
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| 137 | packet.vx = vx;
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| 138 | packet.vy = vy;
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| 139 | packet.vz = vz;
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| 140 | packet.ind_airspeed = ind_airspeed;
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| 141 | packet.true_airspeed = true_airspeed;
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| 142 | packet.xacc = xacc;
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| 143 | packet.yacc = yacc;
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| 144 | packet.zacc = zacc;
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| 145 | mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
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| 146 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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| 147 | #endif
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| 148 |
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| 149 | msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
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| 150 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
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| 151 | }
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| 152 |
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| 153 | /**
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| 154 | * @brief Pack a hil_state_quaternion message on a channel
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| 155 | * @param system_id ID of this system
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| 156 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 157 | * @param chan The MAVLink channel this message will be sent over
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| 158 | * @param msg The MAVLink message to compress the data into
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| 159 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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| 160 | * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
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| 161 | * @param rollspeed Body frame roll / phi angular speed (rad/s)
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| 162 | * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
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| 163 | * @param yawspeed Body frame yaw / psi angular speed (rad/s)
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| 164 | * @param lat Latitude, expressed as * 1E7
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| 165 | * @param lon Longitude, expressed as * 1E7
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| 166 | * @param alt Altitude in meters, expressed as * 1000 (millimeters)
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| 167 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100
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| 168 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
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| 169 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
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| 170 | * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
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| 171 | * @param true_airspeed True airspeed, expressed as m/s * 100
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| 172 | * @param xacc X acceleration (mg)
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| 173 | * @param yacc Y acceleration (mg)
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| 174 | * @param zacc Z acceleration (mg)
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| 175 | * @return length of the message in bytes (excluding serial stream start sign)
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| 176 | */
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| 177 | static inline uint16_t mavlink_msg_hil_state_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 178 | mavlink_message_t* msg,
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| 179 | uint64_t time_usec,const float *attitude_quaternion,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,uint16_t ind_airspeed,uint16_t true_airspeed,int16_t xacc,int16_t yacc,int16_t zacc)
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| 180 | {
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| 181 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 182 | char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
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| 183 | _mav_put_uint64_t(buf, 0, time_usec);
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| 184 | _mav_put_float(buf, 24, rollspeed);
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| 185 | _mav_put_float(buf, 28, pitchspeed);
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| 186 | _mav_put_float(buf, 32, yawspeed);
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| 187 | _mav_put_int32_t(buf, 36, lat);
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| 188 | _mav_put_int32_t(buf, 40, lon);
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| 189 | _mav_put_int32_t(buf, 44, alt);
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| 190 | _mav_put_int16_t(buf, 48, vx);
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| 191 | _mav_put_int16_t(buf, 50, vy);
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| 192 | _mav_put_int16_t(buf, 52, vz);
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| 193 | _mav_put_uint16_t(buf, 54, ind_airspeed);
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| 194 | _mav_put_uint16_t(buf, 56, true_airspeed);
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| 195 | _mav_put_int16_t(buf, 58, xacc);
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| 196 | _mav_put_int16_t(buf, 60, yacc);
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| 197 | _mav_put_int16_t(buf, 62, zacc);
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| 198 | _mav_put_float_array(buf, 8, attitude_quaternion, 4);
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| 199 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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| 200 | #else
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| 201 | mavlink_hil_state_quaternion_t packet;
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| 202 | packet.time_usec = time_usec;
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| 203 | packet.rollspeed = rollspeed;
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| 204 | packet.pitchspeed = pitchspeed;
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| 205 | packet.yawspeed = yawspeed;
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| 206 | packet.lat = lat;
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| 207 | packet.lon = lon;
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| 208 | packet.alt = alt;
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| 209 | packet.vx = vx;
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| 210 | packet.vy = vy;
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| 211 | packet.vz = vz;
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| 212 | packet.ind_airspeed = ind_airspeed;
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| 213 | packet.true_airspeed = true_airspeed;
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| 214 | packet.xacc = xacc;
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| 215 | packet.yacc = yacc;
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| 216 | packet.zacc = zacc;
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| 217 | mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
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| 218 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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| 219 | #endif
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| 220 |
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| 221 | msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
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| 222 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
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| 223 | }
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| 224 |
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| 225 | /**
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| 226 | * @brief Encode a hil_state_quaternion struct
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| 227 | *
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| 228 | * @param system_id ID of this system
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| 229 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 230 | * @param msg The MAVLink message to compress the data into
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| 231 | * @param hil_state_quaternion C-struct to read the message contents from
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| 232 | */
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| 233 | static inline uint16_t mavlink_msg_hil_state_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
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| 234 | {
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| 235 | return mavlink_msg_hil_state_quaternion_pack(system_id, component_id, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
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| 236 | }
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| 237 |
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| 238 | /**
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| 239 | * @brief Encode a hil_state_quaternion struct on a channel
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| 240 | *
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| 241 | * @param system_id ID of this system
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| 242 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 243 | * @param chan The MAVLink channel this message will be sent over
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| 244 | * @param msg The MAVLink message to compress the data into
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| 245 | * @param hil_state_quaternion C-struct to read the message contents from
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| 246 | */
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| 247 | static inline uint16_t mavlink_msg_hil_state_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
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| 248 | {
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| 249 | return mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, chan, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
|
|---|
| 250 | }
|
|---|
| 251 |
|
|---|
| 252 | /**
|
|---|
| 253 | * @brief Send a hil_state_quaternion message
|
|---|
| 254 | * @param chan MAVLink channel to send the message
|
|---|
| 255 | *
|
|---|
| 256 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
|---|
| 257 | * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
|
|---|
| 258 | * @param rollspeed Body frame roll / phi angular speed (rad/s)
|
|---|
| 259 | * @param pitchspeed Body frame pitch / theta angular speed (rad/s)
|
|---|
| 260 | * @param yawspeed Body frame yaw / psi angular speed (rad/s)
|
|---|
| 261 | * @param lat Latitude, expressed as * 1E7
|
|---|
| 262 | * @param lon Longitude, expressed as * 1E7
|
|---|
| 263 | * @param alt Altitude in meters, expressed as * 1000 (millimeters)
|
|---|
| 264 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100
|
|---|
| 265 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
|
|---|
| 266 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
|
|---|
| 267 | * @param ind_airspeed Indicated airspeed, expressed as m/s * 100
|
|---|
| 268 | * @param true_airspeed True airspeed, expressed as m/s * 100
|
|---|
| 269 | * @param xacc X acceleration (mg)
|
|---|
| 270 | * @param yacc Y acceleration (mg)
|
|---|
| 271 | * @param zacc Z acceleration (mg)
|
|---|
| 272 | */
|
|---|
| 273 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|---|
| 274 |
|
|---|
| 275 | static inline void mavlink_msg_hil_state_quaternion_send(mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
|
|---|
| 276 | {
|
|---|
| 277 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|---|
| 278 | char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
|
|---|
| 279 | _mav_put_uint64_t(buf, 0, time_usec);
|
|---|
| 280 | _mav_put_float(buf, 24, rollspeed);
|
|---|
| 281 | _mav_put_float(buf, 28, pitchspeed);
|
|---|
| 282 | _mav_put_float(buf, 32, yawspeed);
|
|---|
| 283 | _mav_put_int32_t(buf, 36, lat);
|
|---|
| 284 | _mav_put_int32_t(buf, 40, lon);
|
|---|
| 285 | _mav_put_int32_t(buf, 44, alt);
|
|---|
| 286 | _mav_put_int16_t(buf, 48, vx);
|
|---|
| 287 | _mav_put_int16_t(buf, 50, vy);
|
|---|
| 288 | _mav_put_int16_t(buf, 52, vz);
|
|---|
| 289 | _mav_put_uint16_t(buf, 54, ind_airspeed);
|
|---|
| 290 | _mav_put_uint16_t(buf, 56, true_airspeed);
|
|---|
| 291 | _mav_put_int16_t(buf, 58, xacc);
|
|---|
| 292 | _mav_put_int16_t(buf, 60, yacc);
|
|---|
| 293 | _mav_put_int16_t(buf, 62, zacc);
|
|---|
| 294 | _mav_put_float_array(buf, 8, attitude_quaternion, 4);
|
|---|
| 295 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
|
|---|
| 296 | #else
|
|---|
| 297 | mavlink_hil_state_quaternion_t packet;
|
|---|
| 298 | packet.time_usec = time_usec;
|
|---|
| 299 | packet.rollspeed = rollspeed;
|
|---|
| 300 | packet.pitchspeed = pitchspeed;
|
|---|
| 301 | packet.yawspeed = yawspeed;
|
|---|
| 302 | packet.lat = lat;
|
|---|
| 303 | packet.lon = lon;
|
|---|
| 304 | packet.alt = alt;
|
|---|
| 305 | packet.vx = vx;
|
|---|
| 306 | packet.vy = vy;
|
|---|
| 307 | packet.vz = vz;
|
|---|
| 308 | packet.ind_airspeed = ind_airspeed;
|
|---|
| 309 | packet.true_airspeed = true_airspeed;
|
|---|
| 310 | packet.xacc = xacc;
|
|---|
| 311 | packet.yacc = yacc;
|
|---|
| 312 | packet.zacc = zacc;
|
|---|
| 313 | mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
|
|---|
| 314 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
|
|---|
| 315 | #endif
|
|---|
| 316 | }
|
|---|
| 317 |
|
|---|
| 318 | /**
|
|---|
| 319 | * @brief Send a hil_state_quaternion message
|
|---|
| 320 | * @param chan MAVLink channel to send the message
|
|---|
| 321 | * @param struct The MAVLink struct to serialize
|
|---|
| 322 | */
|
|---|
| 323 | static inline void mavlink_msg_hil_state_quaternion_send_struct(mavlink_channel_t chan, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
|
|---|
| 324 | {
|
|---|
| 325 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|---|
| 326 | mavlink_msg_hil_state_quaternion_send(chan, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
|
|---|
| 327 | #else
|
|---|
| 328 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)hil_state_quaternion, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
|
|---|
| 329 | #endif
|
|---|
| 330 | }
|
|---|
| 331 |
|
|---|
| 332 | #if MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
|---|
| 333 | /*
|
|---|
| 334 | This varient of _send() can be used to save stack space by re-using
|
|---|
| 335 | memory from the receive buffer. The caller provides a
|
|---|
| 336 | mavlink_message_t which is the size of a full mavlink message. This
|
|---|
| 337 | is usually the receive buffer for the channel, and allows a reply to an
|
|---|
| 338 | incoming message with minimum stack space usage.
|
|---|
| 339 | */
|
|---|
| 340 | static inline void mavlink_msg_hil_state_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
|
|---|
| 341 | {
|
|---|
| 342 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|---|
| 343 | char *buf = (char *)msgbuf;
|
|---|
| 344 | _mav_put_uint64_t(buf, 0, time_usec);
|
|---|
| 345 | _mav_put_float(buf, 24, rollspeed);
|
|---|
| 346 | _mav_put_float(buf, 28, pitchspeed);
|
|---|
| 347 | _mav_put_float(buf, 32, yawspeed);
|
|---|
| 348 | _mav_put_int32_t(buf, 36, lat);
|
|---|
| 349 | _mav_put_int32_t(buf, 40, lon);
|
|---|
| 350 | _mav_put_int32_t(buf, 44, alt);
|
|---|
| 351 | _mav_put_int16_t(buf, 48, vx);
|
|---|
| 352 | _mav_put_int16_t(buf, 50, vy);
|
|---|
| 353 | _mav_put_int16_t(buf, 52, vz);
|
|---|
| 354 | _mav_put_uint16_t(buf, 54, ind_airspeed);
|
|---|
| 355 | _mav_put_uint16_t(buf, 56, true_airspeed);
|
|---|
| 356 | _mav_put_int16_t(buf, 58, xacc);
|
|---|
| 357 | _mav_put_int16_t(buf, 60, yacc);
|
|---|
| 358 | _mav_put_int16_t(buf, 62, zacc);
|
|---|
| 359 | _mav_put_float_array(buf, 8, attitude_quaternion, 4);
|
|---|
| 360 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
|
|---|
| 361 | #else
|
|---|
| 362 | mavlink_hil_state_quaternion_t *packet = (mavlink_hil_state_quaternion_t *)msgbuf;
|
|---|
| 363 | packet->time_usec = time_usec;
|
|---|
| 364 | packet->rollspeed = rollspeed;
|
|---|
| 365 | packet->pitchspeed = pitchspeed;
|
|---|
| 366 | packet->yawspeed = yawspeed;
|
|---|
| 367 | packet->lat = lat;
|
|---|
| 368 | packet->lon = lon;
|
|---|
| 369 | packet->alt = alt;
|
|---|
| 370 | packet->vx = vx;
|
|---|
| 371 | packet->vy = vy;
|
|---|
| 372 | packet->vz = vz;
|
|---|
| 373 | packet->ind_airspeed = ind_airspeed;
|
|---|
| 374 | packet->true_airspeed = true_airspeed;
|
|---|
| 375 | packet->xacc = xacc;
|
|---|
| 376 | packet->yacc = yacc;
|
|---|
| 377 | packet->zacc = zacc;
|
|---|
| 378 | mav_array_memcpy(packet->attitude_quaternion, attitude_quaternion, sizeof(float)*4);
|
|---|
| 379 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
|
|---|
| 380 | #endif
|
|---|
| 381 | }
|
|---|
| 382 | #endif
|
|---|
| 383 |
|
|---|
| 384 | #endif
|
|---|
| 385 |
|
|---|
| 386 | // MESSAGE HIL_STATE_QUATERNION UNPACKING
|
|---|
| 387 |
|
|---|
| 388 |
|
|---|
| 389 | /**
|
|---|
| 390 | * @brief Get field time_usec from hil_state_quaternion message
|
|---|
| 391 | *
|
|---|
| 392 | * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
|
|---|
| 393 | */
|
|---|
| 394 | static inline uint64_t mavlink_msg_hil_state_quaternion_get_time_usec(const mavlink_message_t* msg)
|
|---|
| 395 | {
|
|---|
| 396 | return _MAV_RETURN_uint64_t(msg, 0);
|
|---|
| 397 | }
|
|---|
| 398 |
|
|---|
| 399 | /**
|
|---|
| 400 | * @brief Get field attitude_quaternion from hil_state_quaternion message
|
|---|
| 401 | *
|
|---|
| 402 | * @return Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
|
|---|
| 403 | */
|
|---|
| 404 | static inline uint16_t mavlink_msg_hil_state_quaternion_get_attitude_quaternion(const mavlink_message_t* msg, float *attitude_quaternion)
|
|---|
| 405 | {
|
|---|
| 406 | return _MAV_RETURN_float_array(msg, attitude_quaternion, 4, 8);
|
|---|
| 407 | }
|
|---|
| 408 |
|
|---|
| 409 | /**
|
|---|
| 410 | * @brief Get field rollspeed from hil_state_quaternion message
|
|---|
| 411 | *
|
|---|
| 412 | * @return Body frame roll / phi angular speed (rad/s)
|
|---|
| 413 | */
|
|---|
| 414 | static inline float mavlink_msg_hil_state_quaternion_get_rollspeed(const mavlink_message_t* msg)
|
|---|
| 415 | {
|
|---|
| 416 | return _MAV_RETURN_float(msg, 24);
|
|---|
| 417 | }
|
|---|
| 418 |
|
|---|
| 419 | /**
|
|---|
| 420 | * @brief Get field pitchspeed from hil_state_quaternion message
|
|---|
| 421 | *
|
|---|
| 422 | * @return Body frame pitch / theta angular speed (rad/s)
|
|---|
| 423 | */
|
|---|
| 424 | static inline float mavlink_msg_hil_state_quaternion_get_pitchspeed(const mavlink_message_t* msg)
|
|---|
| 425 | {
|
|---|
| 426 | return _MAV_RETURN_float(msg, 28);
|
|---|
| 427 | }
|
|---|
| 428 |
|
|---|
| 429 | /**
|
|---|
| 430 | * @brief Get field yawspeed from hil_state_quaternion message
|
|---|
| 431 | *
|
|---|
| 432 | * @return Body frame yaw / psi angular speed (rad/s)
|
|---|
| 433 | */
|
|---|
| 434 | static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_message_t* msg)
|
|---|
| 435 | {
|
|---|
| 436 | return _MAV_RETURN_float(msg, 32);
|
|---|
| 437 | }
|
|---|
| 438 |
|
|---|
| 439 | /**
|
|---|
| 440 | * @brief Get field lat from hil_state_quaternion message
|
|---|
| 441 | *
|
|---|
| 442 | * @return Latitude, expressed as * 1E7
|
|---|
| 443 | */
|
|---|
| 444 | static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_message_t* msg)
|
|---|
| 445 | {
|
|---|
| 446 | return _MAV_RETURN_int32_t(msg, 36);
|
|---|
| 447 | }
|
|---|
| 448 |
|
|---|
| 449 | /**
|
|---|
| 450 | * @brief Get field lon from hil_state_quaternion message
|
|---|
| 451 | *
|
|---|
| 452 | * @return Longitude, expressed as * 1E7
|
|---|
| 453 | */
|
|---|
| 454 | static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_message_t* msg)
|
|---|
| 455 | {
|
|---|
| 456 | return _MAV_RETURN_int32_t(msg, 40);
|
|---|
| 457 | }
|
|---|
| 458 |
|
|---|
| 459 | /**
|
|---|
| 460 | * @brief Get field alt from hil_state_quaternion message
|
|---|
| 461 | *
|
|---|
| 462 | * @return Altitude in meters, expressed as * 1000 (millimeters)
|
|---|
| 463 | */
|
|---|
| 464 | static inline int32_t mavlink_msg_hil_state_quaternion_get_alt(const mavlink_message_t* msg)
|
|---|
| 465 | {
|
|---|
| 466 | return _MAV_RETURN_int32_t(msg, 44);
|
|---|
| 467 | }
|
|---|
| 468 |
|
|---|
| 469 | /**
|
|---|
| 470 | * @brief Get field vx from hil_state_quaternion message
|
|---|
| 471 | *
|
|---|
| 472 | * @return Ground X Speed (Latitude), expressed as m/s * 100
|
|---|
| 473 | */
|
|---|
| 474 | static inline int16_t mavlink_msg_hil_state_quaternion_get_vx(const mavlink_message_t* msg)
|
|---|
| 475 | {
|
|---|
| 476 | return _MAV_RETURN_int16_t(msg, 48);
|
|---|
| 477 | }
|
|---|
| 478 |
|
|---|
| 479 | /**
|
|---|
| 480 | * @brief Get field vy from hil_state_quaternion message
|
|---|
| 481 | *
|
|---|
| 482 | * @return Ground Y Speed (Longitude), expressed as m/s * 100
|
|---|
| 483 | */
|
|---|
| 484 | static inline int16_t mavlink_msg_hil_state_quaternion_get_vy(const mavlink_message_t* msg)
|
|---|
| 485 | {
|
|---|
| 486 | return _MAV_RETURN_int16_t(msg, 50);
|
|---|
| 487 | }
|
|---|
| 488 |
|
|---|
| 489 | /**
|
|---|
| 490 | * @brief Get field vz from hil_state_quaternion message
|
|---|
| 491 | *
|
|---|
| 492 | * @return Ground Z Speed (Altitude), expressed as m/s * 100
|
|---|
| 493 | */
|
|---|
| 494 | static inline int16_t mavlink_msg_hil_state_quaternion_get_vz(const mavlink_message_t* msg)
|
|---|
| 495 | {
|
|---|
| 496 | return _MAV_RETURN_int16_t(msg, 52);
|
|---|
| 497 | }
|
|---|
| 498 |
|
|---|
| 499 | /**
|
|---|
| 500 | * @brief Get field ind_airspeed from hil_state_quaternion message
|
|---|
| 501 | *
|
|---|
| 502 | * @return Indicated airspeed, expressed as m/s * 100
|
|---|
| 503 | */
|
|---|
| 504 | static inline uint16_t mavlink_msg_hil_state_quaternion_get_ind_airspeed(const mavlink_message_t* msg)
|
|---|
| 505 | {
|
|---|
| 506 | return _MAV_RETURN_uint16_t(msg, 54);
|
|---|
| 507 | }
|
|---|
| 508 |
|
|---|
| 509 | /**
|
|---|
| 510 | * @brief Get field true_airspeed from hil_state_quaternion message
|
|---|
| 511 | *
|
|---|
| 512 | * @return True airspeed, expressed as m/s * 100
|
|---|
| 513 | */
|
|---|
| 514 | static inline uint16_t mavlink_msg_hil_state_quaternion_get_true_airspeed(const mavlink_message_t* msg)
|
|---|
| 515 | {
|
|---|
| 516 | return _MAV_RETURN_uint16_t(msg, 56);
|
|---|
| 517 | }
|
|---|
| 518 |
|
|---|
| 519 | /**
|
|---|
| 520 | * @brief Get field xacc from hil_state_quaternion message
|
|---|
| 521 | *
|
|---|
| 522 | * @return X acceleration (mg)
|
|---|
| 523 | */
|
|---|
| 524 | static inline int16_t mavlink_msg_hil_state_quaternion_get_xacc(const mavlink_message_t* msg)
|
|---|
| 525 | {
|
|---|
| 526 | return _MAV_RETURN_int16_t(msg, 58);
|
|---|
| 527 | }
|
|---|
| 528 |
|
|---|
| 529 | /**
|
|---|
| 530 | * @brief Get field yacc from hil_state_quaternion message
|
|---|
| 531 | *
|
|---|
| 532 | * @return Y acceleration (mg)
|
|---|
| 533 | */
|
|---|
| 534 | static inline int16_t mavlink_msg_hil_state_quaternion_get_yacc(const mavlink_message_t* msg)
|
|---|
| 535 | {
|
|---|
| 536 | return _MAV_RETURN_int16_t(msg, 60);
|
|---|
| 537 | }
|
|---|
| 538 |
|
|---|
| 539 | /**
|
|---|
| 540 | * @brief Get field zacc from hil_state_quaternion message
|
|---|
| 541 | *
|
|---|
| 542 | * @return Z acceleration (mg)
|
|---|
| 543 | */
|
|---|
| 544 | static inline int16_t mavlink_msg_hil_state_quaternion_get_zacc(const mavlink_message_t* msg)
|
|---|
| 545 | {
|
|---|
| 546 | return _MAV_RETURN_int16_t(msg, 62);
|
|---|
| 547 | }
|
|---|
| 548 |
|
|---|
| 549 | /**
|
|---|
| 550 | * @brief Decode a hil_state_quaternion message into a struct
|
|---|
| 551 | *
|
|---|
| 552 | * @param msg The message to decode
|
|---|
| 553 | * @param hil_state_quaternion C-struct to decode the message contents into
|
|---|
| 554 | */
|
|---|
| 555 | static inline void mavlink_msg_hil_state_quaternion_decode(const mavlink_message_t* msg, mavlink_hil_state_quaternion_t* hil_state_quaternion)
|
|---|
| 556 | {
|
|---|
| 557 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|---|
| 558 | hil_state_quaternion->time_usec = mavlink_msg_hil_state_quaternion_get_time_usec(msg);
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| 559 | mavlink_msg_hil_state_quaternion_get_attitude_quaternion(msg, hil_state_quaternion->attitude_quaternion);
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| 560 | hil_state_quaternion->rollspeed = mavlink_msg_hil_state_quaternion_get_rollspeed(msg);
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| 561 | hil_state_quaternion->pitchspeed = mavlink_msg_hil_state_quaternion_get_pitchspeed(msg);
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| 562 | hil_state_quaternion->yawspeed = mavlink_msg_hil_state_quaternion_get_yawspeed(msg);
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| 563 | hil_state_quaternion->lat = mavlink_msg_hil_state_quaternion_get_lat(msg);
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| 564 | hil_state_quaternion->lon = mavlink_msg_hil_state_quaternion_get_lon(msg);
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| 565 | hil_state_quaternion->alt = mavlink_msg_hil_state_quaternion_get_alt(msg);
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| 566 | hil_state_quaternion->vx = mavlink_msg_hil_state_quaternion_get_vx(msg);
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| 567 | hil_state_quaternion->vy = mavlink_msg_hil_state_quaternion_get_vy(msg);
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| 568 | hil_state_quaternion->vz = mavlink_msg_hil_state_quaternion_get_vz(msg);
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| 569 | hil_state_quaternion->ind_airspeed = mavlink_msg_hil_state_quaternion_get_ind_airspeed(msg);
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| 570 | hil_state_quaternion->true_airspeed = mavlink_msg_hil_state_quaternion_get_true_airspeed(msg);
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| 571 | hil_state_quaternion->xacc = mavlink_msg_hil_state_quaternion_get_xacc(msg);
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| 572 | hil_state_quaternion->yacc = mavlink_msg_hil_state_quaternion_get_yacc(msg);
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| 573 | hil_state_quaternion->zacc = mavlink_msg_hil_state_quaternion_get_zacc(msg);
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| 574 | #else
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| 575 | uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN? msg->len : MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN;
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| 576 | memset(hil_state_quaternion, 0, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
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| 577 | memcpy(hil_state_quaternion, _MAV_PAYLOAD(msg), len);
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| 578 | #endif
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| 579 | }
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