// MESSAGE CONTROL_SYSTEM_STATE PACKING #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE 146 MAVPACKED( typedef struct __mavlink_control_system_state_t { uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/ float x_acc; /*< X acceleration in body frame*/ float y_acc; /*< Y acceleration in body frame*/ float z_acc; /*< Z acceleration in body frame*/ float x_vel; /*< X velocity in body frame*/ float y_vel; /*< Y velocity in body frame*/ float z_vel; /*< Z velocity in body frame*/ float x_pos; /*< X position in local frame*/ float y_pos; /*< Y position in local frame*/ float z_pos; /*< Z position in local frame*/ float airspeed; /*< Airspeed, set to -1 if unknown*/ float vel_variance[3]; /*< Variance of body velocity estimate*/ float pos_variance[3]; /*< Variance in local position*/ float q[4]; /*< The attitude, represented as Quaternion*/ float roll_rate; /*< Angular rate in roll axis*/ float pitch_rate; /*< Angular rate in pitch axis*/ float yaw_rate; /*< Angular rate in yaw axis*/ }) mavlink_control_system_state_t; #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN 100 #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN 100 #define MAVLINK_MSG_ID_146_LEN 100 #define MAVLINK_MSG_ID_146_MIN_LEN 100 #define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC 103 #define MAVLINK_MSG_ID_146_CRC 103 #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_VEL_VARIANCE_LEN 3 #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_POS_VARIANCE_LEN 3 #define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_Q_LEN 4 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \ 146, \ "CONTROL_SYSTEM_STATE", \ 17, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \ { "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \ { "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \ { "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \ { "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \ { "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \ { "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \ { "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \ { "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \ { "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \ { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \ { "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \ { "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \ { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \ { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \ { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \ { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \ "CONTROL_SYSTEM_STATE", \ 17, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \ { "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \ { "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \ { "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \ { "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \ { "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \ { "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \ { "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \ { "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \ { "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \ { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \ { "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \ { "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \ { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \ { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \ { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \ { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \ } \ } #endif /** * @brief Pack a control_system_state message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param time_usec Timestamp (micros since boot or Unix epoch) * @param x_acc X acceleration in body frame * @param y_acc Y acceleration in body frame * @param z_acc Z acceleration in body frame * @param x_vel X velocity in body frame * @param y_vel Y velocity in body frame * @param z_vel Z velocity in body frame * @param x_pos X position in local frame * @param y_pos Y position in local frame * @param z_pos Z position in local frame * @param airspeed Airspeed, set to -1 if unknown * @param vel_variance Variance of body velocity estimate * @param pos_variance Variance in local position * @param q The attitude, represented as Quaternion * @param roll_rate Angular rate in roll axis * @param pitch_rate Angular rate in pitch axis * @param yaw_rate Angular rate in yaw axis * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_control_system_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, x_acc); _mav_put_float(buf, 12, y_acc); _mav_put_float(buf, 16, z_acc); _mav_put_float(buf, 20, x_vel); _mav_put_float(buf, 24, y_vel); _mav_put_float(buf, 28, z_vel); _mav_put_float(buf, 32, x_pos); _mav_put_float(buf, 36, y_pos); _mav_put_float(buf, 40, z_pos); _mav_put_float(buf, 44, airspeed); _mav_put_float(buf, 88, roll_rate); _mav_put_float(buf, 92, pitch_rate); _mav_put_float(buf, 96, yaw_rate); _mav_put_float_array(buf, 48, vel_variance, 3); _mav_put_float_array(buf, 60, pos_variance, 3); _mav_put_float_array(buf, 72, q, 4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN); #else mavlink_control_system_state_t packet; packet.time_usec = time_usec; packet.x_acc = x_acc; packet.y_acc = y_acc; packet.z_acc = z_acc; packet.x_vel = x_vel; packet.y_vel = y_vel; packet.z_vel = z_vel; packet.x_pos = x_pos; packet.y_pos = y_pos; packet.z_pos = z_pos; packet.airspeed = airspeed; packet.roll_rate = roll_rate; packet.pitch_rate = pitch_rate; packet.yaw_rate = yaw_rate; mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3); mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3); mav_array_memcpy(packet.q, q, sizeof(float)*4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE; 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); } /** * @brief Pack a control_system_state message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param time_usec Timestamp (micros since boot or Unix epoch) * @param x_acc X acceleration in body frame * @param y_acc Y acceleration in body frame * @param z_acc Z acceleration in body frame * @param x_vel X velocity in body frame * @param y_vel Y velocity in body frame * @param z_vel Z velocity in body frame * @param x_pos X position in local frame * @param y_pos Y position in local frame * @param z_pos Z position in local frame * @param airspeed Airspeed, set to -1 if unknown * @param vel_variance Variance of body velocity estimate * @param pos_variance Variance in local position * @param q The attitude, represented as Quaternion * @param roll_rate Angular rate in roll axis * @param pitch_rate Angular rate in pitch axis * @param yaw_rate Angular rate in yaw axis * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_control_system_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, x_acc); _mav_put_float(buf, 12, y_acc); _mav_put_float(buf, 16, z_acc); _mav_put_float(buf, 20, x_vel); _mav_put_float(buf, 24, y_vel); _mav_put_float(buf, 28, z_vel); _mav_put_float(buf, 32, x_pos); _mav_put_float(buf, 36, y_pos); _mav_put_float(buf, 40, z_pos); _mav_put_float(buf, 44, airspeed); _mav_put_float(buf, 88, roll_rate); _mav_put_float(buf, 92, pitch_rate); _mav_put_float(buf, 96, yaw_rate); _mav_put_float_array(buf, 48, vel_variance, 3); _mav_put_float_array(buf, 60, pos_variance, 3); _mav_put_float_array(buf, 72, q, 4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN); #else mavlink_control_system_state_t packet; packet.time_usec = time_usec; packet.x_acc = x_acc; packet.y_acc = y_acc; packet.z_acc = z_acc; packet.x_vel = x_vel; packet.y_vel = y_vel; packet.z_vel = z_vel; packet.x_pos = x_pos; packet.y_pos = y_pos; packet.z_pos = z_pos; packet.airspeed = airspeed; packet.roll_rate = roll_rate; packet.pitch_rate = pitch_rate; packet.yaw_rate = yaw_rate; mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3); mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3); mav_array_memcpy(packet.q, q, sizeof(float)*4); memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE; 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); } /** * @brief Encode a control_system_state struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param control_system_state C-struct to read the message contents from */ 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) { 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); } /** * @brief Encode a control_system_state struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param control_system_state C-struct to read the message contents from */ 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) { 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); } /** * @brief Send a control_system_state message * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (micros since boot or Unix epoch) * @param x_acc X acceleration in body frame * @param y_acc Y acceleration in body frame * @param z_acc Z acceleration in body frame * @param x_vel X velocity in body frame * @param y_vel Y velocity in body frame * @param z_vel Z velocity in body frame * @param x_pos X position in local frame * @param y_pos Y position in local frame * @param z_pos Z position in local frame * @param airspeed Airspeed, set to -1 if unknown * @param vel_variance Variance of body velocity estimate * @param pos_variance Variance in local position * @param q The attitude, represented as Quaternion * @param roll_rate Angular rate in roll axis * @param pitch_rate Angular rate in pitch axis * @param yaw_rate Angular rate in yaw axis */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, x_acc); _mav_put_float(buf, 12, y_acc); _mav_put_float(buf, 16, z_acc); _mav_put_float(buf, 20, x_vel); _mav_put_float(buf, 24, y_vel); _mav_put_float(buf, 28, z_vel); _mav_put_float(buf, 32, x_pos); _mav_put_float(buf, 36, y_pos); _mav_put_float(buf, 40, z_pos); _mav_put_float(buf, 44, airspeed); _mav_put_float(buf, 88, roll_rate); _mav_put_float(buf, 92, pitch_rate); _mav_put_float(buf, 96, yaw_rate); _mav_put_float_array(buf, 48, vel_variance, 3); _mav_put_float_array(buf, 60, pos_variance, 3); _mav_put_float_array(buf, 72, q, 4); _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); #else mavlink_control_system_state_t packet; packet.time_usec = time_usec; packet.x_acc = x_acc; packet.y_acc = y_acc; packet.z_acc = z_acc; packet.x_vel = x_vel; packet.y_vel = y_vel; packet.z_vel = z_vel; packet.x_pos = x_pos; packet.y_pos = y_pos; packet.z_pos = z_pos; packet.airspeed = airspeed; packet.roll_rate = roll_rate; packet.pitch_rate = pitch_rate; packet.yaw_rate = yaw_rate; mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3); mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3); mav_array_memcpy(packet.q, q, sizeof(float)*4); _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); #endif } /** * @brief Send a control_system_state message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_control_system_state_send_struct(mavlink_channel_t chan, const mavlink_control_system_state_t* control_system_state) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 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); #else _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); #endif } #if MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, x_acc); _mav_put_float(buf, 12, y_acc); _mav_put_float(buf, 16, z_acc); _mav_put_float(buf, 20, x_vel); _mav_put_float(buf, 24, y_vel); _mav_put_float(buf, 28, z_vel); _mav_put_float(buf, 32, x_pos); _mav_put_float(buf, 36, y_pos); _mav_put_float(buf, 40, z_pos); _mav_put_float(buf, 44, airspeed); _mav_put_float(buf, 88, roll_rate); _mav_put_float(buf, 92, pitch_rate); _mav_put_float(buf, 96, yaw_rate); _mav_put_float_array(buf, 48, vel_variance, 3); _mav_put_float_array(buf, 60, pos_variance, 3); _mav_put_float_array(buf, 72, q, 4); _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); #else mavlink_control_system_state_t *packet = (mavlink_control_system_state_t *)msgbuf; packet->time_usec = time_usec; packet->x_acc = x_acc; packet->y_acc = y_acc; packet->z_acc = z_acc; packet->x_vel = x_vel; packet->y_vel = y_vel; packet->z_vel = z_vel; packet->x_pos = x_pos; packet->y_pos = y_pos; packet->z_pos = z_pos; packet->airspeed = airspeed; packet->roll_rate = roll_rate; packet->pitch_rate = pitch_rate; packet->yaw_rate = yaw_rate; mav_array_memcpy(packet->vel_variance, vel_variance, sizeof(float)*3); mav_array_memcpy(packet->pos_variance, pos_variance, sizeof(float)*3); mav_array_memcpy(packet->q, q, sizeof(float)*4); _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); #endif } #endif #endif // MESSAGE CONTROL_SYSTEM_STATE UNPACKING /** * @brief Get field time_usec from control_system_state message * * @return Timestamp (micros since boot or Unix epoch) */ static inline uint64_t mavlink_msg_control_system_state_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field x_acc from control_system_state message * * @return X acceleration in body frame */ static inline float mavlink_msg_control_system_state_get_x_acc(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field y_acc from control_system_state message * * @return Y acceleration in body frame */ static inline float mavlink_msg_control_system_state_get_y_acc(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field z_acc from control_system_state message * * @return Z acceleration in body frame */ static inline float mavlink_msg_control_system_state_get_z_acc(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field x_vel from control_system_state message * * @return X velocity in body frame */ static inline float mavlink_msg_control_system_state_get_x_vel(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field y_vel from control_system_state message * * @return Y velocity in body frame */ static inline float mavlink_msg_control_system_state_get_y_vel(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field z_vel from control_system_state message * * @return Z velocity in body frame */ static inline float mavlink_msg_control_system_state_get_z_vel(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field x_pos from control_system_state message * * @return X position in local frame */ static inline float mavlink_msg_control_system_state_get_x_pos(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Get field y_pos from control_system_state message * * @return Y position in local frame */ static inline float mavlink_msg_control_system_state_get_y_pos(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 36); } /** * @brief Get field z_pos from control_system_state message * * @return Z position in local frame */ static inline float mavlink_msg_control_system_state_get_z_pos(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 40); } /** * @brief Get field airspeed from control_system_state message * * @return Airspeed, set to -1 if unknown */ static inline float mavlink_msg_control_system_state_get_airspeed(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 44); } /** * @brief Get field vel_variance from control_system_state message * * @return Variance of body velocity estimate */ static inline uint16_t mavlink_msg_control_system_state_get_vel_variance(const mavlink_message_t* msg, float *vel_variance) { return _MAV_RETURN_float_array(msg, vel_variance, 3, 48); } /** * @brief Get field pos_variance from control_system_state message * * @return Variance in local position */ static inline uint16_t mavlink_msg_control_system_state_get_pos_variance(const mavlink_message_t* msg, float *pos_variance) { return _MAV_RETURN_float_array(msg, pos_variance, 3, 60); } /** * @brief Get field q from control_system_state message * * @return The attitude, represented as Quaternion */ static inline uint16_t mavlink_msg_control_system_state_get_q(const mavlink_message_t* msg, float *q) { return _MAV_RETURN_float_array(msg, q, 4, 72); } /** * @brief Get field roll_rate from control_system_state message * * @return Angular rate in roll axis */ static inline float mavlink_msg_control_system_state_get_roll_rate(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 88); } /** * @brief Get field pitch_rate from control_system_state message * * @return Angular rate in pitch axis */ static inline float mavlink_msg_control_system_state_get_pitch_rate(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 92); } /** * @brief Get field yaw_rate from control_system_state message * * @return Angular rate in yaw axis */ static inline float mavlink_msg_control_system_state_get_yaw_rate(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 96); } /** * @brief Decode a control_system_state message into a struct * * @param msg The message to decode * @param control_system_state C-struct to decode the message contents into */ static inline void mavlink_msg_control_system_state_decode(const mavlink_message_t* msg, mavlink_control_system_state_t* control_system_state) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS control_system_state->time_usec = mavlink_msg_control_system_state_get_time_usec(msg); control_system_state->x_acc = mavlink_msg_control_system_state_get_x_acc(msg); control_system_state->y_acc = mavlink_msg_control_system_state_get_y_acc(msg); control_system_state->z_acc = mavlink_msg_control_system_state_get_z_acc(msg); control_system_state->x_vel = mavlink_msg_control_system_state_get_x_vel(msg); control_system_state->y_vel = mavlink_msg_control_system_state_get_y_vel(msg); control_system_state->z_vel = mavlink_msg_control_system_state_get_z_vel(msg); control_system_state->x_pos = mavlink_msg_control_system_state_get_x_pos(msg); control_system_state->y_pos = mavlink_msg_control_system_state_get_y_pos(msg); control_system_state->z_pos = mavlink_msg_control_system_state_get_z_pos(msg); control_system_state->airspeed = mavlink_msg_control_system_state_get_airspeed(msg); mavlink_msg_control_system_state_get_vel_variance(msg, control_system_state->vel_variance); mavlink_msg_control_system_state_get_pos_variance(msg, control_system_state->pos_variance); mavlink_msg_control_system_state_get_q(msg, control_system_state->q); control_system_state->roll_rate = mavlink_msg_control_system_state_get_roll_rate(msg); control_system_state->pitch_rate = mavlink_msg_control_system_state_get_pitch_rate(msg); control_system_state->yaw_rate = mavlink_msg_control_system_state_get_yaw_rate(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN? msg->len : MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN; memset(control_system_state, 0, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN); memcpy(control_system_state, _MAV_PAYLOAD(msg), len); #endif }