1 | // MESSAGE SCALED_IMU PACKING
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2 |
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3 | #define MAVLINK_MSG_ID_SCALED_IMU 26
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4 |
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5 | typedef struct MAVLINK_PACKED __mavlink_scaled_imu_t
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6 | {
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7 | uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
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8 | int16_t xacc; /*< X acceleration (mg)*/
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9 | int16_t yacc; /*< Y acceleration (mg)*/
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10 | int16_t zacc; /*< Z acceleration (mg)*/
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11 | int16_t xgyro; /*< Angular speed around X axis (millirad /sec)*/
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12 | int16_t ygyro; /*< Angular speed around Y axis (millirad /sec)*/
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13 | int16_t zgyro; /*< Angular speed around Z axis (millirad /sec)*/
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14 | int16_t xmag; /*< X Magnetic field (milli tesla)*/
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15 | int16_t ymag; /*< Y Magnetic field (milli tesla)*/
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16 | int16_t zmag; /*< Z Magnetic field (milli tesla)*/
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17 | } mavlink_scaled_imu_t;
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18 |
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19 | #define MAVLINK_MSG_ID_SCALED_IMU_LEN 22
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20 | #define MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN 22
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21 | #define MAVLINK_MSG_ID_26_LEN 22
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22 | #define MAVLINK_MSG_ID_26_MIN_LEN 22
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23 |
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24 | #define MAVLINK_MSG_ID_SCALED_IMU_CRC 170
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25 | #define MAVLINK_MSG_ID_26_CRC 170
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26 |
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27 |
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28 |
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29 | #if MAVLINK_COMMAND_24BIT
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30 | #define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
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31 | 26, \
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32 | "SCALED_IMU", \
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33 | 10, \
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34 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
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35 | { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
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36 | { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
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37 | { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
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38 | { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
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39 | { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
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40 | { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
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41 | { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
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42 | { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
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43 | { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
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44 | } \
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45 | }
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46 | #else
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47 | #define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
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48 | "SCALED_IMU", \
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49 | 10, \
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50 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
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51 | { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
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52 | { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
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53 | { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
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54 | { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
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55 | { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
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56 | { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
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57 | { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
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58 | { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
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59 | { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
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60 | } \
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61 | }
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62 | #endif
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63 |
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64 | /**
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65 | * @brief Pack a scaled_imu message
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66 | * @param system_id ID of this system
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67 | * @param component_id ID of this component (e.g. 200 for IMU)
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68 | * @param msg The MAVLink message to compress the data into
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69 | *
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70 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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71 | * @param xacc X acceleration (mg)
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72 | * @param yacc Y acceleration (mg)
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73 | * @param zacc Z acceleration (mg)
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74 | * @param xgyro Angular speed around X axis (millirad /sec)
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75 | * @param ygyro Angular speed around Y axis (millirad /sec)
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76 | * @param zgyro Angular speed around Z axis (millirad /sec)
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77 | * @param xmag X Magnetic field (milli tesla)
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78 | * @param ymag Y Magnetic field (milli tesla)
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79 | * @param zmag Z Magnetic field (milli tesla)
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80 | * @return length of the message in bytes (excluding serial stream start sign)
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81 | */
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82 | static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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83 | uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
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84 | {
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85 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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86 | char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
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87 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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88 | _mav_put_int16_t(buf, 4, xacc);
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89 | _mav_put_int16_t(buf, 6, yacc);
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90 | _mav_put_int16_t(buf, 8, zacc);
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91 | _mav_put_int16_t(buf, 10, xgyro);
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92 | _mav_put_int16_t(buf, 12, ygyro);
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93 | _mav_put_int16_t(buf, 14, zgyro);
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94 | _mav_put_int16_t(buf, 16, xmag);
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95 | _mav_put_int16_t(buf, 18, ymag);
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96 | _mav_put_int16_t(buf, 20, zmag);
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97 |
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98 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
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99 | #else
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100 | mavlink_scaled_imu_t packet;
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101 | packet.time_boot_ms = time_boot_ms;
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102 | packet.xacc = xacc;
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103 | packet.yacc = yacc;
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104 | packet.zacc = zacc;
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105 | packet.xgyro = xgyro;
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106 | packet.ygyro = ygyro;
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107 | packet.zgyro = zgyro;
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108 | packet.xmag = xmag;
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109 | packet.ymag = ymag;
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110 | packet.zmag = zmag;
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111 |
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112 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
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113 | #endif
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114 |
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115 | msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
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116 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
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117 | }
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118 |
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119 | /**
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120 | * @brief Pack a scaled_imu message on a channel
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121 | * @param system_id ID of this system
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122 | * @param component_id ID of this component (e.g. 200 for IMU)
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123 | * @param chan The MAVLink channel this message will be sent over
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124 | * @param msg The MAVLink message to compress the data into
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125 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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126 | * @param xacc X acceleration (mg)
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127 | * @param yacc Y acceleration (mg)
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128 | * @param zacc Z acceleration (mg)
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129 | * @param xgyro Angular speed around X axis (millirad /sec)
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130 | * @param ygyro Angular speed around Y axis (millirad /sec)
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131 | * @param zgyro Angular speed around Z axis (millirad /sec)
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132 | * @param xmag X Magnetic field (milli tesla)
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133 | * @param ymag Y Magnetic field (milli tesla)
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134 | * @param zmag Z Magnetic field (milli tesla)
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135 | * @return length of the message in bytes (excluding serial stream start sign)
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136 | */
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137 | static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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138 | mavlink_message_t* msg,
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139 | uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
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140 | {
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141 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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142 | char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
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143 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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144 | _mav_put_int16_t(buf, 4, xacc);
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145 | _mav_put_int16_t(buf, 6, yacc);
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146 | _mav_put_int16_t(buf, 8, zacc);
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147 | _mav_put_int16_t(buf, 10, xgyro);
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148 | _mav_put_int16_t(buf, 12, ygyro);
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149 | _mav_put_int16_t(buf, 14, zgyro);
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150 | _mav_put_int16_t(buf, 16, xmag);
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151 | _mav_put_int16_t(buf, 18, ymag);
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152 | _mav_put_int16_t(buf, 20, zmag);
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153 |
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154 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
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155 | #else
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156 | mavlink_scaled_imu_t packet;
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157 | packet.time_boot_ms = time_boot_ms;
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158 | packet.xacc = xacc;
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159 | packet.yacc = yacc;
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160 | packet.zacc = zacc;
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161 | packet.xgyro = xgyro;
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162 | packet.ygyro = ygyro;
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163 | packet.zgyro = zgyro;
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164 | packet.xmag = xmag;
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165 | packet.ymag = ymag;
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166 | packet.zmag = zmag;
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167 |
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168 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
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169 | #endif
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170 |
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171 | msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
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172 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
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173 | }
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174 |
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175 | /**
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176 | * @brief Encode a scaled_imu struct
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177 | *
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178 | * @param system_id ID of this system
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179 | * @param component_id ID of this component (e.g. 200 for IMU)
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180 | * @param msg The MAVLink message to compress the data into
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181 | * @param scaled_imu C-struct to read the message contents from
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182 | */
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183 | static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
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184 | {
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185 | return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
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186 | }
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187 |
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188 | /**
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189 | * @brief Encode a scaled_imu struct on a channel
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190 | *
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191 | * @param system_id ID of this system
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192 | * @param component_id ID of this component (e.g. 200 for IMU)
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193 | * @param chan The MAVLink channel this message will be sent over
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194 | * @param msg The MAVLink message to compress the data into
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195 | * @param scaled_imu C-struct to read the message contents from
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196 | */
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197 | static inline uint16_t mavlink_msg_scaled_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
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198 | {
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199 | return mavlink_msg_scaled_imu_pack_chan(system_id, component_id, chan, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
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200 | }
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201 |
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202 | /**
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203 | * @brief Send a scaled_imu message
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204 | * @param chan MAVLink channel to send the message
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205 | *
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206 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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207 | * @param xacc X acceleration (mg)
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208 | * @param yacc Y acceleration (mg)
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209 | * @param zacc Z acceleration (mg)
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210 | * @param xgyro Angular speed around X axis (millirad /sec)
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211 | * @param ygyro Angular speed around Y axis (millirad /sec)
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212 | * @param zgyro Angular speed around Z axis (millirad /sec)
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213 | * @param xmag X Magnetic field (milli tesla)
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214 | * @param ymag Y Magnetic field (milli tesla)
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215 | * @param zmag Z Magnetic field (milli tesla)
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216 | */
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217 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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218 |
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219 | static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
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220 | {
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221 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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222 | char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
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223 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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224 | _mav_put_int16_t(buf, 4, xacc);
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225 | _mav_put_int16_t(buf, 6, yacc);
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226 | _mav_put_int16_t(buf, 8, zacc);
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227 | _mav_put_int16_t(buf, 10, xgyro);
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228 | _mav_put_int16_t(buf, 12, ygyro);
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229 | _mav_put_int16_t(buf, 14, zgyro);
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230 | _mav_put_int16_t(buf, 16, xmag);
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231 | _mav_put_int16_t(buf, 18, ymag);
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232 | _mav_put_int16_t(buf, 20, zmag);
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233 |
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234 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
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235 | #else
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236 | mavlink_scaled_imu_t packet;
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237 | packet.time_boot_ms = time_boot_ms;
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238 | packet.xacc = xacc;
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239 | packet.yacc = yacc;
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240 | packet.zacc = zacc;
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241 | packet.xgyro = xgyro;
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242 | packet.ygyro = ygyro;
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243 | packet.zgyro = zgyro;
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244 | packet.xmag = xmag;
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245 | packet.ymag = ymag;
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246 | packet.zmag = zmag;
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247 |
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248 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
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249 | #endif
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250 | }
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251 |
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252 | /**
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253 | * @brief Send a scaled_imu message
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254 | * @param chan MAVLink channel to send the message
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255 | * @param struct The MAVLink struct to serialize
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256 | */
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257 | static inline void mavlink_msg_scaled_imu_send_struct(mavlink_channel_t chan, const mavlink_scaled_imu_t* scaled_imu)
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258 | {
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259 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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260 | mavlink_msg_scaled_imu_send(chan, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
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261 | #else
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262 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)scaled_imu, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
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263 | #endif
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264 | }
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265 |
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266 | #if MAVLINK_MSG_ID_SCALED_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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267 | /*
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268 | This varient of _send() can be used to save stack space by re-using
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269 | memory from the receive buffer. The caller provides a
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270 | mavlink_message_t which is the size of a full mavlink message. This
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271 | is usually the receive buffer for the channel, and allows a reply to an
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272 | incoming message with minimum stack space usage.
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273 | */
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274 | static inline void mavlink_msg_scaled_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
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275 | {
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276 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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277 | char *buf = (char *)msgbuf;
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278 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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279 | _mav_put_int16_t(buf, 4, xacc);
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280 | _mav_put_int16_t(buf, 6, yacc);
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281 | _mav_put_int16_t(buf, 8, zacc);
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282 | _mav_put_int16_t(buf, 10, xgyro);
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283 | _mav_put_int16_t(buf, 12, ygyro);
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284 | _mav_put_int16_t(buf, 14, zgyro);
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285 | _mav_put_int16_t(buf, 16, xmag);
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286 | _mav_put_int16_t(buf, 18, ymag);
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287 | _mav_put_int16_t(buf, 20, zmag);
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288 |
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289 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
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290 | #else
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291 | mavlink_scaled_imu_t *packet = (mavlink_scaled_imu_t *)msgbuf;
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292 | packet->time_boot_ms = time_boot_ms;
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293 | packet->xacc = xacc;
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294 | packet->yacc = yacc;
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295 | packet->zacc = zacc;
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296 | packet->xgyro = xgyro;
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297 | packet->ygyro = ygyro;
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298 | packet->zgyro = zgyro;
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299 | packet->xmag = xmag;
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300 | packet->ymag = ymag;
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301 | packet->zmag = zmag;
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302 |
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303 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
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304 | #endif
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305 | }
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306 | #endif
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307 |
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308 | #endif
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309 |
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310 | // MESSAGE SCALED_IMU UNPACKING
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311 |
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312 |
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313 | /**
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314 | * @brief Get field time_boot_ms from scaled_imu message
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315 | *
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316 | * @return Timestamp (milliseconds since system boot)
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317 | */
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318 | static inline uint32_t mavlink_msg_scaled_imu_get_time_boot_ms(const mavlink_message_t* msg)
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319 | {
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320 | return _MAV_RETURN_uint32_t(msg, 0);
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321 | }
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322 |
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323 | /**
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324 | * @brief Get field xacc from scaled_imu message
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325 | *
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326 | * @return X acceleration (mg)
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327 | */
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328 | static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg)
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329 | {
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330 | return _MAV_RETURN_int16_t(msg, 4);
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331 | }
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332 |
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333 | /**
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334 | * @brief Get field yacc from scaled_imu message
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335 | *
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336 | * @return Y acceleration (mg)
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337 | */
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338 | static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg)
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339 | {
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340 | return _MAV_RETURN_int16_t(msg, 6);
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341 | }
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342 |
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343 | /**
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344 | * @brief Get field zacc from scaled_imu message
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345 | *
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346 | * @return Z acceleration (mg)
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347 | */
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348 | static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg)
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349 | {
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350 | return _MAV_RETURN_int16_t(msg, 8);
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351 | }
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352 |
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353 | /**
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354 | * @brief Get field xgyro from scaled_imu message
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355 | *
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356 | * @return Angular speed around X axis (millirad /sec)
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357 | */
|
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358 | static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg)
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359 | {
|
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360 | return _MAV_RETURN_int16_t(msg, 10);
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361 | }
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362 |
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363 | /**
|
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364 | * @brief Get field ygyro from scaled_imu message
|
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365 | *
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366 | * @return Angular speed around Y axis (millirad /sec)
|
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367 | */
|
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368 | static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg)
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369 | {
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370 | return _MAV_RETURN_int16_t(msg, 12);
|
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371 | }
|
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372 |
|
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373 | /**
|
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374 | * @brief Get field zgyro from scaled_imu message
|
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375 | *
|
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376 | * @return Angular speed around Z axis (millirad /sec)
|
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377 | */
|
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378 | static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg)
|
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379 | {
|
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380 | return _MAV_RETURN_int16_t(msg, 14);
|
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381 | }
|
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382 |
|
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383 | /**
|
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384 | * @brief Get field xmag from scaled_imu message
|
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385 | *
|
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386 | * @return X Magnetic field (milli tesla)
|
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387 | */
|
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388 | static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg)
|
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389 | {
|
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390 | return _MAV_RETURN_int16_t(msg, 16);
|
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391 | }
|
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392 |
|
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393 | /**
|
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394 | * @brief Get field ymag from scaled_imu message
|
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395 | *
|
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396 | * @return Y Magnetic field (milli tesla)
|
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397 | */
|
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398 | static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg)
|
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399 | {
|
---|
400 | return _MAV_RETURN_int16_t(msg, 18);
|
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401 | }
|
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402 |
|
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403 | /**
|
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404 | * @brief Get field zmag from scaled_imu message
|
---|
405 | *
|
---|
406 | * @return Z Magnetic field (milli tesla)
|
---|
407 | */
|
---|
408 | static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg)
|
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409 | {
|
---|
410 | return _MAV_RETURN_int16_t(msg, 20);
|
---|
411 | }
|
---|
412 |
|
---|
413 | /**
|
---|
414 | * @brief Decode a scaled_imu message into a struct
|
---|
415 | *
|
---|
416 | * @param msg The message to decode
|
---|
417 | * @param scaled_imu C-struct to decode the message contents into
|
---|
418 | */
|
---|
419 | static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu)
|
---|
420 | {
|
---|
421 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
---|
422 | scaled_imu->time_boot_ms = mavlink_msg_scaled_imu_get_time_boot_ms(msg);
|
---|
423 | scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg);
|
---|
424 | scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg);
|
---|
425 | scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg);
|
---|
426 | scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg);
|
---|
427 | scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg);
|
---|
428 | scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg);
|
---|
429 | scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg);
|
---|
430 | scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg);
|
---|
431 | scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg);
|
---|
432 | #else
|
---|
433 | uint8_t len = msg->len < MAVLINK_MSG_ID_SCALED_IMU_LEN? msg->len : MAVLINK_MSG_ID_SCALED_IMU_LEN;
|
---|
434 | memset(scaled_imu, 0, MAVLINK_MSG_ID_SCALED_IMU_LEN);
|
---|
435 | memcpy(scaled_imu, _MAV_PAYLOAD(msg), len);
|
---|
436 | #endif
|
---|
437 | }
|
---|