1 | // MESSAGE HIGHRES_IMU PACKING |
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2 | |
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3 | #define MAVLINK_MSG_ID_HIGHRES_IMU 105 |
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4 | |
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5 | MAVPACKED( |
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6 | typedef struct __mavlink_highres_imu_t { |
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7 | uint64_t time_usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/ |
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8 | float xacc; /*< X acceleration (m/s^2)*/ |
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9 | float yacc; /*< Y acceleration (m/s^2)*/ |
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10 | float zacc; /*< Z acceleration (m/s^2)*/ |
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11 | float xgyro; /*< Angular speed around X axis (rad / sec)*/ |
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12 | float ygyro; /*< Angular speed around Y axis (rad / sec)*/ |
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13 | float zgyro; /*< Angular speed around Z axis (rad / sec)*/ |
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14 | float xmag; /*< X Magnetic field (Gauss)*/ |
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15 | float ymag; /*< Y Magnetic field (Gauss)*/ |
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16 | float zmag; /*< Z Magnetic field (Gauss)*/ |
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17 | float abs_pressure; /*< Absolute pressure in millibar*/ |
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18 | float diff_pressure; /*< Differential pressure in millibar*/ |
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19 | float pressure_alt; /*< Altitude calculated from pressure*/ |
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20 | float temperature; /*< Temperature in degrees celsius*/ |
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21 | uint16_t fields_updated; /*< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature*/ |
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22 | }) mavlink_highres_imu_t; |
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23 | |
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24 | #define MAVLINK_MSG_ID_HIGHRES_IMU_LEN 62 |
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25 | #define MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN 62 |
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26 | #define MAVLINK_MSG_ID_105_LEN 62 |
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27 | #define MAVLINK_MSG_ID_105_MIN_LEN 62 |
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28 | |
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29 | #define MAVLINK_MSG_ID_HIGHRES_IMU_CRC 93 |
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30 | #define MAVLINK_MSG_ID_105_CRC 93 |
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31 | |
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32 | |
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33 | |
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34 | #if MAVLINK_COMMAND_24BIT |
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35 | #define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \ |
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36 | 105, \ |
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37 | "HIGHRES_IMU", \ |
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38 | 15, \ |
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39 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \ |
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40 | { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \ |
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41 | { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \ |
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42 | { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \ |
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43 | { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \ |
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44 | { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \ |
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45 | { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \ |
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46 | { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \ |
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47 | { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \ |
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48 | { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \ |
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49 | { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \ |
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50 | { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \ |
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51 | { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \ |
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52 | { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \ |
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53 | { "fields_updated", NULL, MAVLINK_TYPE_UINT16_T, 0, 60, offsetof(mavlink_highres_imu_t, fields_updated) }, \ |
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54 | } \ |
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55 | } |
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56 | #else |
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57 | #define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \ |
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58 | "HIGHRES_IMU", \ |
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59 | 15, \ |
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60 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \ |
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61 | { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \ |
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62 | { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \ |
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63 | { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \ |
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64 | { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \ |
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65 | { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \ |
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66 | { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \ |
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67 | { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \ |
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68 | { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \ |
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69 | { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \ |
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70 | { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \ |
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71 | { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \ |
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72 | { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \ |
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73 | { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \ |
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74 | { "fields_updated", NULL, MAVLINK_TYPE_UINT16_T, 0, 60, offsetof(mavlink_highres_imu_t, fields_updated) }, \ |
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75 | } \ |
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76 | } |
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77 | #endif |
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78 | |
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79 | /** |
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80 | * @brief Pack a highres_imu message |
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81 | * @param system_id ID of this system |
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82 | * @param component_id ID of this component (e.g. 200 for IMU) |
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83 | * @param msg The MAVLink message to compress the data into |
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84 | * |
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85 | * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot) |
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86 | * @param xacc X acceleration (m/s^2) |
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87 | * @param yacc Y acceleration (m/s^2) |
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88 | * @param zacc Z acceleration (m/s^2) |
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89 | * @param xgyro Angular speed around X axis (rad / sec) |
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90 | * @param ygyro Angular speed around Y axis (rad / sec) |
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91 | * @param zgyro Angular speed around Z axis (rad / sec) |
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92 | * @param xmag X Magnetic field (Gauss) |
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93 | * @param ymag Y Magnetic field (Gauss) |
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94 | * @param zmag Z Magnetic field (Gauss) |
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95 | * @param abs_pressure Absolute pressure in millibar |
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96 | * @param diff_pressure Differential pressure in millibar |
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97 | * @param pressure_alt Altitude calculated from pressure |
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98 | * @param temperature Temperature in degrees celsius |
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99 | * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature |
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100 | * @return length of the message in bytes (excluding serial stream start sign) |
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101 | */ |
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102 | static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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103 | uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated) |
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104 | { |
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105 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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106 | char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN]; |
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107 | _mav_put_uint64_t(buf, 0, time_usec); |
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108 | _mav_put_float(buf, 8, xacc); |
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109 | _mav_put_float(buf, 12, yacc); |
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110 | _mav_put_float(buf, 16, zacc); |
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111 | _mav_put_float(buf, 20, xgyro); |
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112 | _mav_put_float(buf, 24, ygyro); |
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113 | _mav_put_float(buf, 28, zgyro); |
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114 | _mav_put_float(buf, 32, xmag); |
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115 | _mav_put_float(buf, 36, ymag); |
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116 | _mav_put_float(buf, 40, zmag); |
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117 | _mav_put_float(buf, 44, abs_pressure); |
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118 | _mav_put_float(buf, 48, diff_pressure); |
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119 | _mav_put_float(buf, 52, pressure_alt); |
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120 | _mav_put_float(buf, 56, temperature); |
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121 | _mav_put_uint16_t(buf, 60, fields_updated); |
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122 | |
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123 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN); |
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124 | #else |
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125 | mavlink_highres_imu_t packet; |
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126 | packet.time_usec = time_usec; |
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127 | packet.xacc = xacc; |
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128 | packet.yacc = yacc; |
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129 | packet.zacc = zacc; |
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130 | packet.xgyro = xgyro; |
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131 | packet.ygyro = ygyro; |
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132 | packet.zgyro = zgyro; |
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133 | packet.xmag = xmag; |
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134 | packet.ymag = ymag; |
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135 | packet.zmag = zmag; |
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136 | packet.abs_pressure = abs_pressure; |
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137 | packet.diff_pressure = diff_pressure; |
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138 | packet.pressure_alt = pressure_alt; |
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139 | packet.temperature = temperature; |
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140 | packet.fields_updated = fields_updated; |
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141 | |
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142 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN); |
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143 | #endif |
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144 | |
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145 | msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU; |
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146 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC); |
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147 | } |
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148 | |
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149 | /** |
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150 | * @brief Pack a highres_imu message on a channel |
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151 | * @param system_id ID of this system |
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152 | * @param component_id ID of this component (e.g. 200 for IMU) |
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153 | * @param chan The MAVLink channel this message will be sent over |
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154 | * @param msg The MAVLink message to compress the data into |
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155 | * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot) |
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156 | * @param xacc X acceleration (m/s^2) |
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157 | * @param yacc Y acceleration (m/s^2) |
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158 | * @param zacc Z acceleration (m/s^2) |
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159 | * @param xgyro Angular speed around X axis (rad / sec) |
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160 | * @param ygyro Angular speed around Y axis (rad / sec) |
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161 | * @param zgyro Angular speed around Z axis (rad / sec) |
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162 | * @param xmag X Magnetic field (Gauss) |
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163 | * @param ymag Y Magnetic field (Gauss) |
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164 | * @param zmag Z Magnetic field (Gauss) |
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165 | * @param abs_pressure Absolute pressure in millibar |
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166 | * @param diff_pressure Differential pressure in millibar |
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167 | * @param pressure_alt Altitude calculated from pressure |
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168 | * @param temperature Temperature in degrees celsius |
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169 | * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature |
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170 | * @return length of the message in bytes (excluding serial stream start sign) |
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171 | */ |
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172 | static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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173 | mavlink_message_t* msg, |
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174 | uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint16_t fields_updated) |
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175 | { |
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176 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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177 | char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN]; |
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178 | _mav_put_uint64_t(buf, 0, time_usec); |
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179 | _mav_put_float(buf, 8, xacc); |
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180 | _mav_put_float(buf, 12, yacc); |
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181 | _mav_put_float(buf, 16, zacc); |
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182 | _mav_put_float(buf, 20, xgyro); |
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183 | _mav_put_float(buf, 24, ygyro); |
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184 | _mav_put_float(buf, 28, zgyro); |
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185 | _mav_put_float(buf, 32, xmag); |
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186 | _mav_put_float(buf, 36, ymag); |
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187 | _mav_put_float(buf, 40, zmag); |
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188 | _mav_put_float(buf, 44, abs_pressure); |
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189 | _mav_put_float(buf, 48, diff_pressure); |
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190 | _mav_put_float(buf, 52, pressure_alt); |
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191 | _mav_put_float(buf, 56, temperature); |
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192 | _mav_put_uint16_t(buf, 60, fields_updated); |
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193 | |
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194 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN); |
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195 | #else |
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196 | mavlink_highres_imu_t packet; |
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197 | packet.time_usec = time_usec; |
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198 | packet.xacc = xacc; |
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199 | packet.yacc = yacc; |
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200 | packet.zacc = zacc; |
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201 | packet.xgyro = xgyro; |
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202 | packet.ygyro = ygyro; |
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203 | packet.zgyro = zgyro; |
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204 | packet.xmag = xmag; |
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205 | packet.ymag = ymag; |
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206 | packet.zmag = zmag; |
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207 | packet.abs_pressure = abs_pressure; |
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208 | packet.diff_pressure = diff_pressure; |
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209 | packet.pressure_alt = pressure_alt; |
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210 | packet.temperature = temperature; |
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211 | packet.fields_updated = fields_updated; |
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212 | |
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213 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN); |
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214 | #endif |
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215 | |
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216 | msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU; |
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217 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC); |
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218 | } |
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219 | |
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220 | /** |
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221 | * @brief Encode a highres_imu struct |
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222 | * |
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223 | * @param system_id ID of this system |
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224 | * @param component_id ID of this component (e.g. 200 for IMU) |
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225 | * @param msg The MAVLink message to compress the data into |
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226 | * @param highres_imu C-struct to read the message contents from |
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227 | */ |
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228 | static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu) |
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229 | { |
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230 | return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated); |
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231 | } |
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232 | |
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233 | /** |
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234 | * @brief Encode a highres_imu struct on a channel |
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235 | * |
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236 | * @param system_id ID of this system |
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237 | * @param component_id ID of this component (e.g. 200 for IMU) |
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238 | * @param chan The MAVLink channel this message will be sent over |
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239 | * @param msg The MAVLink message to compress the data into |
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240 | * @param highres_imu C-struct to read the message contents from |
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241 | */ |
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242 | static inline uint16_t mavlink_msg_highres_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu) |
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243 | { |
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244 | return mavlink_msg_highres_imu_pack_chan(system_id, component_id, chan, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated); |
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245 | } |
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246 | |
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247 | /** |
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248 | * @brief Send a highres_imu message |
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249 | * @param chan MAVLink channel to send the message |
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250 | * |
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251 | * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot) |
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252 | * @param xacc X acceleration (m/s^2) |
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253 | * @param yacc Y acceleration (m/s^2) |
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254 | * @param zacc Z acceleration (m/s^2) |
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255 | * @param xgyro Angular speed around X axis (rad / sec) |
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256 | * @param ygyro Angular speed around Y axis (rad / sec) |
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257 | * @param zgyro Angular speed around Z axis (rad / sec) |
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258 | * @param xmag X Magnetic field (Gauss) |
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259 | * @param ymag Y Magnetic field (Gauss) |
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260 | * @param zmag Z Magnetic field (Gauss) |
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261 | * @param abs_pressure Absolute pressure in millibar |
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262 | * @param diff_pressure Differential pressure in millibar |
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263 | * @param pressure_alt Altitude calculated from pressure |
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264 | * @param temperature Temperature in degrees celsius |
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265 | * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature |
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266 | */ |
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267 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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268 | |
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269 | static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated) |
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270 | { |
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271 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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272 | char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN]; |
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273 | _mav_put_uint64_t(buf, 0, time_usec); |
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274 | _mav_put_float(buf, 8, xacc); |
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275 | _mav_put_float(buf, 12, yacc); |
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276 | _mav_put_float(buf, 16, zacc); |
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277 | _mav_put_float(buf, 20, xgyro); |
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278 | _mav_put_float(buf, 24, ygyro); |
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279 | _mav_put_float(buf, 28, zgyro); |
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280 | _mav_put_float(buf, 32, xmag); |
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281 | _mav_put_float(buf, 36, ymag); |
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282 | _mav_put_float(buf, 40, zmag); |
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283 | _mav_put_float(buf, 44, abs_pressure); |
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284 | _mav_put_float(buf, 48, diff_pressure); |
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285 | _mav_put_float(buf, 52, pressure_alt); |
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286 | _mav_put_float(buf, 56, temperature); |
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287 | _mav_put_uint16_t(buf, 60, fields_updated); |
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288 | |
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289 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC); |
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290 | #else |
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291 | mavlink_highres_imu_t packet; |
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292 | packet.time_usec = time_usec; |
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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 | packet.abs_pressure = abs_pressure; |
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303 | packet.diff_pressure = diff_pressure; |
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304 | packet.pressure_alt = pressure_alt; |
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305 | packet.temperature = temperature; |
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306 | packet.fields_updated = fields_updated; |
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307 | |
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308 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC); |
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309 | #endif |
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310 | } |
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311 | |
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312 | /** |
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313 | * @brief Send a highres_imu message |
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314 | * @param chan MAVLink channel to send the message |
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315 | * @param struct The MAVLink struct to serialize |
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316 | */ |
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317 | static inline void mavlink_msg_highres_imu_send_struct(mavlink_channel_t chan, const mavlink_highres_imu_t* highres_imu) |
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318 | { |
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319 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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320 | mavlink_msg_highres_imu_send(chan, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated); |
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321 | #else |
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322 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)highres_imu, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC); |
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323 | #endif |
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324 | } |
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325 | |
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326 | #if MAVLINK_MSG_ID_HIGHRES_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN |
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327 | /* |
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328 | This varient of _send() can be used to save stack space by re-using |
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329 | memory from the receive buffer. The caller provides a |
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330 | mavlink_message_t which is the size of a full mavlink message. This |
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331 | is usually the receive buffer for the channel, and allows a reply to an |
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332 | incoming message with minimum stack space usage. |
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333 | */ |
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334 | static inline void mavlink_msg_highres_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated) |
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335 | { |
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336 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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337 | char *buf = (char *)msgbuf; |
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338 | _mav_put_uint64_t(buf, 0, time_usec); |
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339 | _mav_put_float(buf, 8, xacc); |
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340 | _mav_put_float(buf, 12, yacc); |
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341 | _mav_put_float(buf, 16, zacc); |
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342 | _mav_put_float(buf, 20, xgyro); |
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343 | _mav_put_float(buf, 24, ygyro); |
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344 | _mav_put_float(buf, 28, zgyro); |
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345 | _mav_put_float(buf, 32, xmag); |
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346 | _mav_put_float(buf, 36, ymag); |
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347 | _mav_put_float(buf, 40, zmag); |
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348 | _mav_put_float(buf, 44, abs_pressure); |
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349 | _mav_put_float(buf, 48, diff_pressure); |
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350 | _mav_put_float(buf, 52, pressure_alt); |
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351 | _mav_put_float(buf, 56, temperature); |
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352 | _mav_put_uint16_t(buf, 60, fields_updated); |
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353 | |
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354 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC); |
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355 | #else |
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356 | mavlink_highres_imu_t *packet = (mavlink_highres_imu_t *)msgbuf; |
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357 | packet->time_usec = time_usec; |
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358 | packet->xacc = xacc; |
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359 | packet->yacc = yacc; |
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360 | packet->zacc = zacc; |
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361 | packet->xgyro = xgyro; |
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362 | packet->ygyro = ygyro; |
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363 | packet->zgyro = zgyro; |
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364 | packet->xmag = xmag; |
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365 | packet->ymag = ymag; |
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366 | packet->zmag = zmag; |
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367 | packet->abs_pressure = abs_pressure; |
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368 | packet->diff_pressure = diff_pressure; |
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369 | packet->pressure_alt = pressure_alt; |
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370 | packet->temperature = temperature; |
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371 | packet->fields_updated = fields_updated; |
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372 | |
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373 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)packet, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC); |
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374 | #endif |
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375 | } |
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376 | #endif |
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377 | |
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378 | #endif |
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379 | |
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380 | // MESSAGE HIGHRES_IMU UNPACKING |
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381 | |
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382 | |
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383 | /** |
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384 | * @brief Get field time_usec from highres_imu message |
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385 | * |
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386 | * @return Timestamp (microseconds, synced to UNIX time or since system boot) |
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387 | */ |
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388 | static inline uint64_t mavlink_msg_highres_imu_get_time_usec(const mavlink_message_t* msg) |
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389 | { |
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390 | return _MAV_RETURN_uint64_t(msg, 0); |
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391 | } |
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392 | |
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393 | /** |
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394 | * @brief Get field xacc from highres_imu message |
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395 | * |
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396 | * @return X acceleration (m/s^2) |
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397 | */ |
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398 | static inline float mavlink_msg_highres_imu_get_xacc(const mavlink_message_t* msg) |
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399 | { |
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400 | return _MAV_RETURN_float(msg, 8); |
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401 | } |
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402 | |
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403 | /** |
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404 | * @brief Get field yacc from highres_imu message |
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405 | * |
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406 | * @return Y acceleration (m/s^2) |
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407 | */ |
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408 | static inline float mavlink_msg_highres_imu_get_yacc(const mavlink_message_t* msg) |
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409 | { |
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410 | return _MAV_RETURN_float(msg, 12); |
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411 | } |
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412 | |
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413 | /** |
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414 | * @brief Get field zacc from highres_imu message |
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415 | * |
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416 | * @return Z acceleration (m/s^2) |
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417 | */ |
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418 | static inline float mavlink_msg_highres_imu_get_zacc(const mavlink_message_t* msg) |
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419 | { |
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420 | return _MAV_RETURN_float(msg, 16); |
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421 | } |
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422 | |
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423 | /** |
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424 | * @brief Get field xgyro from highres_imu message |
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425 | * |
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426 | * @return Angular speed around X axis (rad / sec) |
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427 | */ |
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428 | static inline float mavlink_msg_highres_imu_get_xgyro(const mavlink_message_t* msg) |
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429 | { |
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430 | return _MAV_RETURN_float(msg, 20); |
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431 | } |
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432 | |
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433 | /** |
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434 | * @brief Get field ygyro from highres_imu message |
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435 | * |
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436 | * @return Angular speed around Y axis (rad / sec) |
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437 | */ |
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438 | static inline float mavlink_msg_highres_imu_get_ygyro(const mavlink_message_t* msg) |
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439 | { |
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440 | return _MAV_RETURN_float(msg, 24); |
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441 | } |
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442 | |
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443 | /** |
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444 | * @brief Get field zgyro from highres_imu message |
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445 | * |
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446 | * @return Angular speed around Z axis (rad / sec) |
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447 | */ |
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448 | static inline float mavlink_msg_highres_imu_get_zgyro(const mavlink_message_t* msg) |
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449 | { |
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450 | return _MAV_RETURN_float(msg, 28); |
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451 | } |
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452 | |
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453 | /** |
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454 | * @brief Get field xmag from highres_imu message |
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455 | * |
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456 | * @return X Magnetic field (Gauss) |
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457 | */ |
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458 | static inline float mavlink_msg_highres_imu_get_xmag(const mavlink_message_t* msg) |
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459 | { |
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460 | return _MAV_RETURN_float(msg, 32); |
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461 | } |
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462 | |
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463 | /** |
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464 | * @brief Get field ymag from highres_imu message |
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465 | * |
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466 | * @return Y Magnetic field (Gauss) |
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467 | */ |
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468 | static inline float mavlink_msg_highres_imu_get_ymag(const mavlink_message_t* msg) |
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469 | { |
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470 | return _MAV_RETURN_float(msg, 36); |
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471 | } |
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472 | |
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473 | /** |
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474 | * @brief Get field zmag from highres_imu message |
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475 | * |
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476 | * @return Z Magnetic field (Gauss) |
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477 | */ |
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478 | static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* msg) |
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479 | { |
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480 | return _MAV_RETURN_float(msg, 40); |
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481 | } |
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482 | |
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483 | /** |
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484 | * @brief Get field abs_pressure from highres_imu message |
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485 | * |
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486 | * @return Absolute pressure in millibar |
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487 | */ |
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488 | static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg) |
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489 | { |
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490 | return _MAV_RETURN_float(msg, 44); |
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491 | } |
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492 | |
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493 | /** |
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494 | * @brief Get field diff_pressure from highres_imu message |
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495 | * |
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496 | * @return Differential pressure in millibar |
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497 | */ |
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498 | static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg) |
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499 | { |
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500 | return _MAV_RETURN_float(msg, 48); |
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501 | } |
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502 | |
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503 | /** |
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504 | * @brief Get field pressure_alt from highres_imu message |
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505 | * |
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506 | * @return Altitude calculated from pressure |
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507 | */ |
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508 | static inline float mavlink_msg_highres_imu_get_pressure_alt(const mavlink_message_t* msg) |
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509 | { |
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510 | return _MAV_RETURN_float(msg, 52); |
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511 | } |
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512 | |
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513 | /** |
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514 | * @brief Get field temperature from highres_imu message |
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515 | * |
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516 | * @return Temperature in degrees celsius |
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517 | */ |
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518 | static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_message_t* msg) |
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519 | { |
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520 | return _MAV_RETURN_float(msg, 56); |
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521 | } |
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522 | |
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523 | /** |
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524 | * @brief Get field fields_updated from highres_imu message |
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525 | * |
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526 | * @return Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature |
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527 | */ |
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528 | static inline uint16_t mavlink_msg_highres_imu_get_fields_updated(const mavlink_message_t* msg) |
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529 | { |
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530 | return _MAV_RETURN_uint16_t(msg, 60); |
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531 | } |
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532 | |
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533 | /** |
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534 | * @brief Decode a highres_imu message into a struct |
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535 | * |
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536 | * @param msg The message to decode |
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537 | * @param highres_imu C-struct to decode the message contents into |
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538 | */ |
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539 | static inline void mavlink_msg_highres_imu_decode(const mavlink_message_t* msg, mavlink_highres_imu_t* highres_imu) |
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540 | { |
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541 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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542 | highres_imu->time_usec = mavlink_msg_highres_imu_get_time_usec(msg); |
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543 | highres_imu->xacc = mavlink_msg_highres_imu_get_xacc(msg); |
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544 | highres_imu->yacc = mavlink_msg_highres_imu_get_yacc(msg); |
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545 | highres_imu->zacc = mavlink_msg_highres_imu_get_zacc(msg); |
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546 | highres_imu->xgyro = mavlink_msg_highres_imu_get_xgyro(msg); |
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547 | highres_imu->ygyro = mavlink_msg_highres_imu_get_ygyro(msg); |
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548 | highres_imu->zgyro = mavlink_msg_highres_imu_get_zgyro(msg); |
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549 | highres_imu->xmag = mavlink_msg_highres_imu_get_xmag(msg); |
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550 | highres_imu->ymag = mavlink_msg_highres_imu_get_ymag(msg); |
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551 | highres_imu->zmag = mavlink_msg_highres_imu_get_zmag(msg); |
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552 | highres_imu->abs_pressure = mavlink_msg_highres_imu_get_abs_pressure(msg); |
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553 | highres_imu->diff_pressure = mavlink_msg_highres_imu_get_diff_pressure(msg); |
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554 | highres_imu->pressure_alt = mavlink_msg_highres_imu_get_pressure_alt(msg); |
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555 | highres_imu->temperature = mavlink_msg_highres_imu_get_temperature(msg); |
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556 | highres_imu->fields_updated = mavlink_msg_highres_imu_get_fields_updated(msg); |
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557 | #else |
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558 | uint8_t len = msg->len < MAVLINK_MSG_ID_HIGHRES_IMU_LEN? msg->len : MAVLINK_MSG_ID_HIGHRES_IMU_LEN; |
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559 | memset(highres_imu, 0, MAVLINK_MSG_ID_HIGHRES_IMU_LEN); |
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560 | memcpy(highres_imu, _MAV_PAYLOAD(msg), len); |
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561 | #endif |
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562 | } |
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