1 | // MESSAGE CONTROL_SYSTEM_STATE PACKING |
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2 | |
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3 | #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE 146 |
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4 | |
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5 | MAVPACKED( |
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6 | typedef struct __mavlink_control_system_state_t { |
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7 | uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/ |
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8 | float x_acc; /*< X acceleration in body frame*/ |
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9 | float y_acc; /*< Y acceleration in body frame*/ |
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10 | float z_acc; /*< Z acceleration in body frame*/ |
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11 | float x_vel; /*< X velocity in body frame*/ |
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12 | float y_vel; /*< Y velocity in body frame*/ |
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13 | float z_vel; /*< Z velocity in body frame*/ |
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14 | float x_pos; /*< X position in local frame*/ |
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15 | float y_pos; /*< Y position in local frame*/ |
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16 | float z_pos; /*< Z position in local frame*/ |
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17 | float airspeed; /*< Airspeed, set to -1 if unknown*/ |
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18 | float vel_variance[3]; /*< Variance of body velocity estimate*/ |
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19 | float pos_variance[3]; /*< Variance in local position*/ |
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20 | float q[4]; /*< The attitude, represented as Quaternion*/ |
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21 | float roll_rate; /*< Angular rate in roll axis*/ |
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22 | float pitch_rate; /*< Angular rate in pitch axis*/ |
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23 | float yaw_rate; /*< Angular rate in yaw axis*/ |
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24 | }) mavlink_control_system_state_t; |
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25 | |
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26 | #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN 100 |
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27 | #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN 100 |
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28 | #define MAVLINK_MSG_ID_146_LEN 100 |
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29 | #define MAVLINK_MSG_ID_146_MIN_LEN 100 |
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30 | |
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31 | #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC 103 |
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32 | #define MAVLINK_MSG_ID_146_CRC 103 |
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33 | |
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34 | #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_VEL_VARIANCE_LEN 3 |
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35 | #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_POS_VARIANCE_LEN 3 |
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36 | #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_Q_LEN 4 |
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37 | |
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38 | #if MAVLINK_COMMAND_24BIT |
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39 | #define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \ |
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40 | 146, \ |
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41 | "CONTROL_SYSTEM_STATE", \ |
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42 | 17, \ |
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43 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \ |
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44 | { "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \ |
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45 | { "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \ |
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46 | { "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \ |
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47 | { "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \ |
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48 | { "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \ |
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49 | { "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \ |
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50 | { "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \ |
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51 | { "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \ |
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52 | { "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \ |
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53 | { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \ |
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54 | { "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \ |
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55 | { "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \ |
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56 | { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \ |
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57 | { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \ |
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58 | { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \ |
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59 | { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \ |
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60 | } \ |
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61 | } |
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62 | #else |
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63 | #define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \ |
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64 | "CONTROL_SYSTEM_STATE", \ |
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65 | 17, \ |
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66 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \ |
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67 | { "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \ |
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68 | { "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \ |
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69 | { "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \ |
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70 | { "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \ |
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71 | { "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \ |
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72 | { "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \ |
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73 | { "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \ |
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74 | { "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \ |
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75 | { "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \ |
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76 | { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \ |
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77 | { "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \ |
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78 | { "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \ |
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79 | { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \ |
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80 | { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \ |
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81 | { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \ |
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82 | { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \ |
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83 | } \ |
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84 | } |
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85 | #endif |
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86 | |
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87 | /** |
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88 | * @brief Pack a control_system_state message |
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89 | * @param system_id ID of this system |
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90 | * @param component_id ID of this component (e.g. 200 for IMU) |
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91 | * @param msg The MAVLink message to compress the data into |
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92 | * |
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93 | * @param time_usec Timestamp (micros since boot or Unix epoch) |
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94 | * @param x_acc X acceleration in body frame |
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95 | * @param y_acc Y acceleration in body frame |
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96 | * @param z_acc Z acceleration in body frame |
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97 | * @param x_vel X velocity in body frame |
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98 | * @param y_vel Y velocity in body frame |
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99 | * @param z_vel Z velocity in body frame |
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100 | * @param x_pos X position in local frame |
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101 | * @param y_pos Y position in local frame |
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102 | * @param z_pos Z position in local frame |
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103 | * @param airspeed Airspeed, set to -1 if unknown |
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104 | * @param vel_variance Variance of body velocity estimate |
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105 | * @param pos_variance Variance in local position |
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106 | * @param q The attitude, represented as Quaternion |
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107 | * @param roll_rate Angular rate in roll axis |
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108 | * @param pitch_rate Angular rate in pitch axis |
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109 | * @param yaw_rate Angular rate in yaw axis |
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110 | * @return length of the message in bytes (excluding serial stream start sign) |
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111 | */ |
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112 | static inline uint16_t mavlink_msg_control_system_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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113 | uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate) |
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114 | { |
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115 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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116 | char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN]; |
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117 | _mav_put_uint64_t(buf, 0, time_usec); |
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118 | _mav_put_float(buf, 8, x_acc); |
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119 | _mav_put_float(buf, 12, y_acc); |
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120 | _mav_put_float(buf, 16, z_acc); |
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121 | _mav_put_float(buf, 20, x_vel); |
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122 | _mav_put_float(buf, 24, y_vel); |
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123 | _mav_put_float(buf, 28, z_vel); |
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124 | _mav_put_float(buf, 32, x_pos); |
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125 | _mav_put_float(buf, 36, y_pos); |
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126 | _mav_put_float(buf, 40, z_pos); |
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127 | _mav_put_float(buf, 44, airspeed); |
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128 | _mav_put_float(buf, 88, roll_rate); |
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129 | _mav_put_float(buf, 92, pitch_rate); |
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130 | _mav_put_float(buf, 96, yaw_rate); |
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131 | _mav_put_float_array(buf, 48, vel_variance, 3); |
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132 | _mav_put_float_array(buf, 60, pos_variance, 3); |
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133 | _mav_put_float_array(buf, 72, q, 4); |
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134 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN); |
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135 | #else |
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136 | mavlink_control_system_state_t packet; |
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137 | packet.time_usec = time_usec; |
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138 | packet.x_acc = x_acc; |
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139 | packet.y_acc = y_acc; |
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140 | packet.z_acc = z_acc; |
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141 | packet.x_vel = x_vel; |
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142 | packet.y_vel = y_vel; |
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143 | packet.z_vel = z_vel; |
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144 | packet.x_pos = x_pos; |
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145 | packet.y_pos = y_pos; |
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146 | packet.z_pos = z_pos; |
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147 | packet.airspeed = airspeed; |
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148 | packet.roll_rate = roll_rate; |
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149 | packet.pitch_rate = pitch_rate; |
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150 | packet.yaw_rate = yaw_rate; |
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151 | mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3); |
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152 | mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3); |
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153 | mav_array_memcpy(packet.q, q, sizeof(float)*4); |
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154 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN); |
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155 | #endif |
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156 | |
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157 | msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE; |
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158 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC); |
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159 | } |
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160 | |
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161 | /** |
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162 | * @brief Pack a control_system_state message on a channel |
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163 | * @param system_id ID of this system |
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164 | * @param component_id ID of this component (e.g. 200 for IMU) |
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165 | * @param chan The MAVLink channel this message will be sent over |
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166 | * @param msg The MAVLink message to compress the data into |
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167 | * @param time_usec Timestamp (micros since boot or Unix epoch) |
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168 | * @param x_acc X acceleration in body frame |
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169 | * @param y_acc Y acceleration in body frame |
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170 | * @param z_acc Z acceleration in body frame |
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171 | * @param x_vel X velocity in body frame |
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172 | * @param y_vel Y velocity in body frame |
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173 | * @param z_vel Z velocity in body frame |
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174 | * @param x_pos X position in local frame |
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175 | * @param y_pos Y position in local frame |
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176 | * @param z_pos Z position in local frame |
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177 | * @param airspeed Airspeed, set to -1 if unknown |
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178 | * @param vel_variance Variance of body velocity estimate |
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179 | * @param pos_variance Variance in local position |
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180 | * @param q The attitude, represented as Quaternion |
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181 | * @param roll_rate Angular rate in roll axis |
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182 | * @param pitch_rate Angular rate in pitch axis |
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183 | * @param yaw_rate Angular rate in yaw axis |
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184 | * @return length of the message in bytes (excluding serial stream start sign) |
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185 | */ |
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186 | static inline uint16_t mavlink_msg_control_system_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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187 | mavlink_message_t* msg, |
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188 | uint64_t time_usec,float x_acc,float y_acc,float z_acc,float x_vel,float y_vel,float z_vel,float x_pos,float y_pos,float z_pos,float airspeed,const float *vel_variance,const float *pos_variance,const float *q,float roll_rate,float pitch_rate,float yaw_rate) |
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189 | { |
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190 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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191 | char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN]; |
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192 | _mav_put_uint64_t(buf, 0, time_usec); |
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193 | _mav_put_float(buf, 8, x_acc); |
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194 | _mav_put_float(buf, 12, y_acc); |
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195 | _mav_put_float(buf, 16, z_acc); |
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196 | _mav_put_float(buf, 20, x_vel); |
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197 | _mav_put_float(buf, 24, y_vel); |
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198 | _mav_put_float(buf, 28, z_vel); |
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199 | _mav_put_float(buf, 32, x_pos); |
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200 | _mav_put_float(buf, 36, y_pos); |
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201 | _mav_put_float(buf, 40, z_pos); |
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202 | _mav_put_float(buf, 44, airspeed); |
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203 | _mav_put_float(buf, 88, roll_rate); |
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204 | _mav_put_float(buf, 92, pitch_rate); |
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205 | _mav_put_float(buf, 96, yaw_rate); |
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206 | _mav_put_float_array(buf, 48, vel_variance, 3); |
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207 | _mav_put_float_array(buf, 60, pos_variance, 3); |
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208 | _mav_put_float_array(buf, 72, q, 4); |
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209 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN); |
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210 | #else |
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211 | mavlink_control_system_state_t packet; |
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212 | packet.time_usec = time_usec; |
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213 | packet.x_acc = x_acc; |
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214 | packet.y_acc = y_acc; |
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215 | packet.z_acc = z_acc; |
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216 | packet.x_vel = x_vel; |
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217 | packet.y_vel = y_vel; |
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218 | packet.z_vel = z_vel; |
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219 | packet.x_pos = x_pos; |
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220 | packet.y_pos = y_pos; |
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221 | packet.z_pos = z_pos; |
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222 | packet.airspeed = airspeed; |
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223 | packet.roll_rate = roll_rate; |
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224 | packet.pitch_rate = pitch_rate; |
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225 | packet.yaw_rate = yaw_rate; |
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226 | mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3); |
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227 | mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3); |
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228 | mav_array_memcpy(packet.q, q, sizeof(float)*4); |
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229 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN); |
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230 | #endif |
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231 | |
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232 | msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE; |
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233 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC); |
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234 | } |
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235 | |
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236 | /** |
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237 | * @brief Encode a control_system_state struct |
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238 | * |
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239 | * @param system_id ID of this system |
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240 | * @param component_id ID of this component (e.g. 200 for IMU) |
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241 | * @param msg The MAVLink message to compress the data into |
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242 | * @param control_system_state C-struct to read the message contents from |
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243 | */ |
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244 | static inline uint16_t mavlink_msg_control_system_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_system_state_t* control_system_state) |
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245 | { |
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246 | return mavlink_msg_control_system_state_pack(system_id, component_id, msg, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate); |
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247 | } |
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248 | |
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249 | /** |
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250 | * @brief Encode a control_system_state struct on a channel |
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251 | * |
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252 | * @param system_id ID of this system |
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253 | * @param component_id ID of this component (e.g. 200 for IMU) |
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254 | * @param chan The MAVLink channel this message will be sent over |
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255 | * @param msg The MAVLink message to compress the data into |
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256 | * @param control_system_state C-struct to read the message contents from |
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257 | */ |
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258 | static inline uint16_t mavlink_msg_control_system_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_control_system_state_t* control_system_state) |
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259 | { |
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260 | return mavlink_msg_control_system_state_pack_chan(system_id, component_id, chan, msg, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate); |
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261 | } |
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262 | |
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263 | /** |
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264 | * @brief Send a control_system_state message |
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265 | * @param chan MAVLink channel to send the message |
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266 | * |
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267 | * @param time_usec Timestamp (micros since boot or Unix epoch) |
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268 | * @param x_acc X acceleration in body frame |
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269 | * @param y_acc Y acceleration in body frame |
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270 | * @param z_acc Z acceleration in body frame |
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271 | * @param x_vel X velocity in body frame |
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272 | * @param y_vel Y velocity in body frame |
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273 | * @param z_vel Z velocity in body frame |
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274 | * @param x_pos X position in local frame |
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275 | * @param y_pos Y position in local frame |
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276 | * @param z_pos Z position in local frame |
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277 | * @param airspeed Airspeed, set to -1 if unknown |
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278 | * @param vel_variance Variance of body velocity estimate |
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279 | * @param pos_variance Variance in local position |
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280 | * @param q The attitude, represented as Quaternion |
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281 | * @param roll_rate Angular rate in roll axis |
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282 | * @param pitch_rate Angular rate in pitch axis |
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283 | * @param yaw_rate Angular rate in yaw axis |
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284 | */ |
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285 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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286 | |
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287 | static inline void mavlink_msg_control_system_state_send(mavlink_channel_t chan, uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate) |
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288 | { |
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289 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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290 | char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN]; |
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291 | _mav_put_uint64_t(buf, 0, time_usec); |
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292 | _mav_put_float(buf, 8, x_acc); |
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293 | _mav_put_float(buf, 12, y_acc); |
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294 | _mav_put_float(buf, 16, z_acc); |
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295 | _mav_put_float(buf, 20, x_vel); |
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296 | _mav_put_float(buf, 24, y_vel); |
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297 | _mav_put_float(buf, 28, z_vel); |
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298 | _mav_put_float(buf, 32, x_pos); |
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299 | _mav_put_float(buf, 36, y_pos); |
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300 | _mav_put_float(buf, 40, z_pos); |
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301 | _mav_put_float(buf, 44, airspeed); |
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302 | _mav_put_float(buf, 88, roll_rate); |
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303 | _mav_put_float(buf, 92, pitch_rate); |
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304 | _mav_put_float(buf, 96, yaw_rate); |
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305 | _mav_put_float_array(buf, 48, vel_variance, 3); |
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306 | _mav_put_float_array(buf, 60, pos_variance, 3); |
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307 | _mav_put_float_array(buf, 72, q, 4); |
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308 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC); |
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309 | #else |
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310 | mavlink_control_system_state_t packet; |
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311 | packet.time_usec = time_usec; |
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312 | packet.x_acc = x_acc; |
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313 | packet.y_acc = y_acc; |
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314 | packet.z_acc = z_acc; |
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315 | packet.x_vel = x_vel; |
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316 | packet.y_vel = y_vel; |
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317 | packet.z_vel = z_vel; |
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318 | packet.x_pos = x_pos; |
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319 | packet.y_pos = y_pos; |
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320 | packet.z_pos = z_pos; |
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321 | packet.airspeed = airspeed; |
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322 | packet.roll_rate = roll_rate; |
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323 | packet.pitch_rate = pitch_rate; |
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324 | packet.yaw_rate = yaw_rate; |
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325 | mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3); |
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326 | mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3); |
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327 | mav_array_memcpy(packet.q, q, sizeof(float)*4); |
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328 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)&packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC); |
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329 | #endif |
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330 | } |
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331 | |
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332 | /** |
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333 | * @brief Send a control_system_state message |
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334 | * @param chan MAVLink channel to send the message |
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335 | * @param struct The MAVLink struct to serialize |
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336 | */ |
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337 | static inline void mavlink_msg_control_system_state_send_struct(mavlink_channel_t chan, const mavlink_control_system_state_t* control_system_state) |
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338 | { |
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339 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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340 | mavlink_msg_control_system_state_send(chan, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate); |
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341 | #else |
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342 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)control_system_state, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC); |
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343 | #endif |
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344 | } |
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345 | |
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346 | #if MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN |
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347 | /* |
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348 | This varient of _send() can be used to save stack space by re-using |
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349 | memory from the receive buffer. The caller provides a |
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350 | mavlink_message_t which is the size of a full mavlink message. This |
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351 | is usually the receive buffer for the channel, and allows a reply to an |
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352 | incoming message with minimum stack space usage. |
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353 | */ |
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354 | static inline void mavlink_msg_control_system_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate) |
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355 | { |
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356 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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357 | char *buf = (char *)msgbuf; |
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358 | _mav_put_uint64_t(buf, 0, time_usec); |
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359 | _mav_put_float(buf, 8, x_acc); |
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360 | _mav_put_float(buf, 12, y_acc); |
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361 | _mav_put_float(buf, 16, z_acc); |
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362 | _mav_put_float(buf, 20, x_vel); |
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363 | _mav_put_float(buf, 24, y_vel); |
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364 | _mav_put_float(buf, 28, z_vel); |
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365 | _mav_put_float(buf, 32, x_pos); |
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366 | _mav_put_float(buf, 36, y_pos); |
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367 | _mav_put_float(buf, 40, z_pos); |
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368 | _mav_put_float(buf, 44, airspeed); |
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369 | _mav_put_float(buf, 88, roll_rate); |
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370 | _mav_put_float(buf, 92, pitch_rate); |
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371 | _mav_put_float(buf, 96, yaw_rate); |
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372 | _mav_put_float_array(buf, 48, vel_variance, 3); |
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373 | _mav_put_float_array(buf, 60, pos_variance, 3); |
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374 | _mav_put_float_array(buf, 72, q, 4); |
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375 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC); |
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376 | #else |
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377 | mavlink_control_system_state_t *packet = (mavlink_control_system_state_t *)msgbuf; |
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378 | packet->time_usec = time_usec; |
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379 | packet->x_acc = x_acc; |
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380 | packet->y_acc = y_acc; |
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381 | packet->z_acc = z_acc; |
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382 | packet->x_vel = x_vel; |
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383 | packet->y_vel = y_vel; |
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384 | packet->z_vel = z_vel; |
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385 | packet->x_pos = x_pos; |
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386 | packet->y_pos = y_pos; |
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387 | packet->z_pos = z_pos; |
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388 | packet->airspeed = airspeed; |
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389 | packet->roll_rate = roll_rate; |
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390 | packet->pitch_rate = pitch_rate; |
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391 | packet->yaw_rate = yaw_rate; |
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392 | mav_array_memcpy(packet->vel_variance, vel_variance, sizeof(float)*3); |
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393 | mav_array_memcpy(packet->pos_variance, pos_variance, sizeof(float)*3); |
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394 | mav_array_memcpy(packet->q, q, sizeof(float)*4); |
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395 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC); |
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396 | #endif |
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397 | } |
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398 | #endif |
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399 | |
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400 | #endif |
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401 | |
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402 | // MESSAGE CONTROL_SYSTEM_STATE UNPACKING |
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403 | |
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404 | |
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405 | /** |
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406 | * @brief Get field time_usec from control_system_state message |
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407 | * |
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408 | * @return Timestamp (micros since boot or Unix epoch) |
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409 | */ |
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410 | static inline uint64_t mavlink_msg_control_system_state_get_time_usec(const mavlink_message_t* msg) |
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411 | { |
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412 | return _MAV_RETURN_uint64_t(msg, 0); |
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413 | } |
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414 | |
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415 | /** |
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416 | * @brief Get field x_acc from control_system_state message |
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417 | * |
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418 | * @return X acceleration in body frame |
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419 | */ |
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420 | static inline float mavlink_msg_control_system_state_get_x_acc(const mavlink_message_t* msg) |
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421 | { |
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422 | return _MAV_RETURN_float(msg, 8); |
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423 | } |
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424 | |
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425 | /** |
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426 | * @brief Get field y_acc from control_system_state message |
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427 | * |
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428 | * @return Y acceleration in body frame |
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429 | */ |
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430 | static inline float mavlink_msg_control_system_state_get_y_acc(const mavlink_message_t* msg) |
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431 | { |
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432 | return _MAV_RETURN_float(msg, 12); |
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433 | } |
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434 | |
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435 | /** |
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436 | * @brief Get field z_acc from control_system_state message |
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437 | * |
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438 | * @return Z acceleration in body frame |
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439 | */ |
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440 | static inline float mavlink_msg_control_system_state_get_z_acc(const mavlink_message_t* msg) |
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441 | { |
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442 | return _MAV_RETURN_float(msg, 16); |
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443 | } |
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444 | |
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445 | /** |
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446 | * @brief Get field x_vel from control_system_state message |
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447 | * |
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448 | * @return X velocity in body frame |
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449 | */ |
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450 | static inline float mavlink_msg_control_system_state_get_x_vel(const mavlink_message_t* msg) |
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451 | { |
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452 | return _MAV_RETURN_float(msg, 20); |
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453 | } |
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454 | |
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455 | /** |
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456 | * @brief Get field y_vel from control_system_state message |
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457 | * |
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458 | * @return Y velocity in body frame |
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459 | */ |
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460 | static inline float mavlink_msg_control_system_state_get_y_vel(const mavlink_message_t* msg) |
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461 | { |
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462 | return _MAV_RETURN_float(msg, 24); |
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463 | } |
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464 | |
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465 | /** |
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466 | * @brief Get field z_vel from control_system_state message |
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467 | * |
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468 | * @return Z velocity in body frame |
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469 | */ |
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470 | static inline float mavlink_msg_control_system_state_get_z_vel(const mavlink_message_t* msg) |
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471 | { |
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472 | return _MAV_RETURN_float(msg, 28); |
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473 | } |
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474 | |
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475 | /** |
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476 | * @brief Get field x_pos from control_system_state message |
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477 | * |
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478 | * @return X position in local frame |
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479 | */ |
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480 | static inline float mavlink_msg_control_system_state_get_x_pos(const mavlink_message_t* msg) |
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481 | { |
---|
482 | return _MAV_RETURN_float(msg, 32); |
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483 | } |
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484 | |
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485 | /** |
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486 | * @brief Get field y_pos from control_system_state message |
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487 | * |
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488 | * @return Y position in local frame |
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489 | */ |
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490 | static inline float mavlink_msg_control_system_state_get_y_pos(const mavlink_message_t* msg) |
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491 | { |
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492 | return _MAV_RETURN_float(msg, 36); |
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493 | } |
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494 | |
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495 | /** |
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496 | * @brief Get field z_pos from control_system_state message |
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497 | * |
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498 | * @return Z position in local frame |
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499 | */ |
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500 | static inline float mavlink_msg_control_system_state_get_z_pos(const mavlink_message_t* msg) |
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501 | { |
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502 | return _MAV_RETURN_float(msg, 40); |
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503 | } |
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504 | |
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505 | /** |
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506 | * @brief Get field airspeed from control_system_state message |
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507 | * |
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508 | * @return Airspeed, set to -1 if unknown |
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509 | */ |
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510 | static inline float mavlink_msg_control_system_state_get_airspeed(const mavlink_message_t* msg) |
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511 | { |
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512 | return _MAV_RETURN_float(msg, 44); |
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513 | } |
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514 | |
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515 | /** |
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516 | * @brief Get field vel_variance from control_system_state message |
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517 | * |
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518 | * @return Variance of body velocity estimate |
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519 | */ |
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520 | static inline uint16_t mavlink_msg_control_system_state_get_vel_variance(const mavlink_message_t* msg, float *vel_variance) |
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521 | { |
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522 | return _MAV_RETURN_float_array(msg, vel_variance, 3, 48); |
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523 | } |
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524 | |
---|
525 | /** |
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526 | * @brief Get field pos_variance from control_system_state message |
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527 | * |
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528 | * @return Variance in local position |
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529 | */ |
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530 | static inline uint16_t mavlink_msg_control_system_state_get_pos_variance(const mavlink_message_t* msg, float *pos_variance) |
---|
531 | { |
---|
532 | return _MAV_RETURN_float_array(msg, pos_variance, 3, 60); |
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533 | } |
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534 | |
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535 | /** |
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536 | * @brief Get field q from control_system_state message |
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537 | * |
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538 | * @return The attitude, represented as Quaternion |
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539 | */ |
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540 | static inline uint16_t mavlink_msg_control_system_state_get_q(const mavlink_message_t* msg, float *q) |
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541 | { |
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542 | return _MAV_RETURN_float_array(msg, q, 4, 72); |
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543 | } |
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544 | |
---|
545 | /** |
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546 | * @brief Get field roll_rate from control_system_state message |
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547 | * |
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548 | * @return Angular rate in roll axis |
---|
549 | */ |
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550 | static inline float mavlink_msg_control_system_state_get_roll_rate(const mavlink_message_t* msg) |
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551 | { |
---|
552 | return _MAV_RETURN_float(msg, 88); |
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553 | } |
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554 | |
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555 | /** |
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556 | * @brief Get field pitch_rate from control_system_state message |
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557 | * |
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558 | * @return Angular rate in pitch axis |
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559 | */ |
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560 | static inline float mavlink_msg_control_system_state_get_pitch_rate(const mavlink_message_t* msg) |
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561 | { |
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562 | return _MAV_RETURN_float(msg, 92); |
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563 | } |
---|
564 | |
---|
565 | /** |
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566 | * @brief Get field yaw_rate from control_system_state message |
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567 | * |
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568 | * @return Angular rate in yaw axis |
---|
569 | */ |
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570 | static inline float mavlink_msg_control_system_state_get_yaw_rate(const mavlink_message_t* msg) |
---|
571 | { |
---|
572 | return _MAV_RETURN_float(msg, 96); |
---|
573 | } |
---|
574 | |
---|
575 | /** |
---|
576 | * @brief Decode a control_system_state message into a struct |
---|
577 | * |
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578 | * @param msg The message to decode |
---|
579 | * @param control_system_state C-struct to decode the message contents into |
---|
580 | */ |
---|
581 | static inline void mavlink_msg_control_system_state_decode(const mavlink_message_t* msg, mavlink_control_system_state_t* control_system_state) |
---|
582 | { |
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583 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
---|
584 | control_system_state->time_usec = mavlink_msg_control_system_state_get_time_usec(msg); |
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585 | control_system_state->x_acc = mavlink_msg_control_system_state_get_x_acc(msg); |
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586 | control_system_state->y_acc = mavlink_msg_control_system_state_get_y_acc(msg); |
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587 | control_system_state->z_acc = mavlink_msg_control_system_state_get_z_acc(msg); |
---|
588 | control_system_state->x_vel = mavlink_msg_control_system_state_get_x_vel(msg); |
---|
589 | control_system_state->y_vel = mavlink_msg_control_system_state_get_y_vel(msg); |
---|
590 | control_system_state->z_vel = mavlink_msg_control_system_state_get_z_vel(msg); |
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591 | control_system_state->x_pos = mavlink_msg_control_system_state_get_x_pos(msg); |
---|
592 | control_system_state->y_pos = mavlink_msg_control_system_state_get_y_pos(msg); |
---|
593 | control_system_state->z_pos = mavlink_msg_control_system_state_get_z_pos(msg); |
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594 | control_system_state->airspeed = mavlink_msg_control_system_state_get_airspeed(msg); |
---|
595 | mavlink_msg_control_system_state_get_vel_variance(msg, control_system_state->vel_variance); |
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596 | mavlink_msg_control_system_state_get_pos_variance(msg, control_system_state->pos_variance); |
---|
597 | mavlink_msg_control_system_state_get_q(msg, control_system_state->q); |
---|
598 | control_system_state->roll_rate = mavlink_msg_control_system_state_get_roll_rate(msg); |
---|
599 | control_system_state->pitch_rate = mavlink_msg_control_system_state_get_pitch_rate(msg); |
---|
600 | control_system_state->yaw_rate = mavlink_msg_control_system_state_get_yaw_rate(msg); |
---|
601 | #else |
---|
602 | uint8_t len = msg->len < MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN? msg->len : MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN; |
---|
603 | memset(control_system_state, 0, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN); |
---|
604 | memcpy(control_system_state, _MAV_PAYLOAD(msg), len); |
---|
605 | #endif |
---|
606 | } |
---|