1 | // MESSAGE HIL_STATE PACKING |
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2 | |
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3 | #define MAVLINK_MSG_ID_HIL_STATE 90 |
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4 | |
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5 | MAVPACKED( |
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6 | typedef struct __mavlink_hil_state_t { |
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7 | uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/ |
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8 | float roll; /*< Roll angle (rad)*/ |
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9 | float pitch; /*< Pitch angle (rad)*/ |
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10 | float yaw; /*< Yaw angle (rad)*/ |
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11 | float rollspeed; /*< Body frame roll / phi angular speed (rad/s)*/ |
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12 | float pitchspeed; /*< Body frame pitch / theta angular speed (rad/s)*/ |
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13 | float yawspeed; /*< Body frame yaw / psi angular speed (rad/s)*/ |
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14 | int32_t lat; /*< Latitude, expressed as * 1E7*/ |
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15 | int32_t lon; /*< Longitude, expressed as * 1E7*/ |
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16 | int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters)*/ |
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17 | int16_t vx; /*< Ground X Speed (Latitude), expressed as m/s * 100*/ |
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18 | int16_t vy; /*< Ground Y Speed (Longitude), expressed as m/s * 100*/ |
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19 | int16_t vz; /*< Ground Z Speed (Altitude), expressed as m/s * 100*/ |
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20 | int16_t xacc; /*< X acceleration (mg)*/ |
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21 | int16_t yacc; /*< Y acceleration (mg)*/ |
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22 | int16_t zacc; /*< Z acceleration (mg)*/ |
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23 | }) mavlink_hil_state_t; |
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24 | |
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25 | #define MAVLINK_MSG_ID_HIL_STATE_LEN 56 |
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26 | #define MAVLINK_MSG_ID_HIL_STATE_MIN_LEN 56 |
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27 | #define MAVLINK_MSG_ID_90_LEN 56 |
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28 | #define MAVLINK_MSG_ID_90_MIN_LEN 56 |
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29 | |
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30 | #define MAVLINK_MSG_ID_HIL_STATE_CRC 183 |
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31 | #define MAVLINK_MSG_ID_90_CRC 183 |
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32 | |
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33 | |
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34 | |
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35 | #if MAVLINK_COMMAND_24BIT |
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36 | #define MAVLINK_MESSAGE_INFO_HIL_STATE { \ |
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37 | 90, \ |
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38 | "HIL_STATE", \ |
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39 | 16, \ |
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40 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \ |
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41 | { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \ |
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42 | { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \ |
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43 | { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \ |
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44 | { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \ |
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45 | { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \ |
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46 | { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \ |
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47 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \ |
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48 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \ |
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49 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \ |
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50 | { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \ |
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51 | { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \ |
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52 | { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \ |
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53 | { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \ |
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54 | { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \ |
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55 | { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \ |
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56 | } \ |
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57 | } |
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58 | #else |
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59 | #define MAVLINK_MESSAGE_INFO_HIL_STATE { \ |
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60 | "HIL_STATE", \ |
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61 | 16, \ |
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62 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \ |
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63 | { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \ |
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64 | { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \ |
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65 | { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \ |
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66 | { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \ |
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67 | { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \ |
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68 | { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \ |
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69 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \ |
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70 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \ |
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71 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \ |
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72 | { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \ |
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73 | { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \ |
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74 | { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \ |
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75 | { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \ |
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76 | { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \ |
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77 | { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \ |
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78 | } \ |
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79 | } |
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80 | #endif |
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81 | |
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82 | /** |
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83 | * @brief Pack a hil_state message |
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84 | * @param system_id ID of this system |
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85 | * @param component_id ID of this component (e.g. 200 for IMU) |
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86 | * @param msg The MAVLink message to compress the data into |
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87 | * |
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88 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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89 | * @param roll Roll angle (rad) |
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90 | * @param pitch Pitch angle (rad) |
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91 | * @param yaw Yaw angle (rad) |
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92 | * @param rollspeed Body frame roll / phi angular speed (rad/s) |
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93 | * @param pitchspeed Body frame pitch / theta angular speed (rad/s) |
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94 | * @param yawspeed Body frame yaw / psi angular speed (rad/s) |
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95 | * @param lat Latitude, expressed as * 1E7 |
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96 | * @param lon Longitude, expressed as * 1E7 |
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97 | * @param alt Altitude in meters, expressed as * 1000 (millimeters) |
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98 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
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99 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
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100 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
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101 | * @param xacc X acceleration (mg) |
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102 | * @param yacc Y acceleration (mg) |
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103 | * @param zacc Z acceleration (mg) |
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104 | * @return length of the message in bytes (excluding serial stream start sign) |
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105 | */ |
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106 | static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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107 | uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) |
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108 | { |
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109 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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110 | char buf[MAVLINK_MSG_ID_HIL_STATE_LEN]; |
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111 | _mav_put_uint64_t(buf, 0, time_usec); |
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112 | _mav_put_float(buf, 8, roll); |
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113 | _mav_put_float(buf, 12, pitch); |
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114 | _mav_put_float(buf, 16, yaw); |
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115 | _mav_put_float(buf, 20, rollspeed); |
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116 | _mav_put_float(buf, 24, pitchspeed); |
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117 | _mav_put_float(buf, 28, yawspeed); |
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118 | _mav_put_int32_t(buf, 32, lat); |
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119 | _mav_put_int32_t(buf, 36, lon); |
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120 | _mav_put_int32_t(buf, 40, alt); |
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121 | _mav_put_int16_t(buf, 44, vx); |
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122 | _mav_put_int16_t(buf, 46, vy); |
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123 | _mav_put_int16_t(buf, 48, vz); |
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124 | _mav_put_int16_t(buf, 50, xacc); |
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125 | _mav_put_int16_t(buf, 52, yacc); |
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126 | _mav_put_int16_t(buf, 54, zacc); |
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127 | |
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128 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN); |
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129 | #else |
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130 | mavlink_hil_state_t packet; |
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131 | packet.time_usec = time_usec; |
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132 | packet.roll = roll; |
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133 | packet.pitch = pitch; |
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134 | packet.yaw = yaw; |
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135 | packet.rollspeed = rollspeed; |
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136 | packet.pitchspeed = pitchspeed; |
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137 | packet.yawspeed = yawspeed; |
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138 | packet.lat = lat; |
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139 | packet.lon = lon; |
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140 | packet.alt = alt; |
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141 | packet.vx = vx; |
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142 | packet.vy = vy; |
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143 | packet.vz = vz; |
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144 | packet.xacc = xacc; |
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145 | packet.yacc = yacc; |
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146 | packet.zacc = zacc; |
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147 | |
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148 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN); |
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149 | #endif |
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150 | |
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151 | msg->msgid = MAVLINK_MSG_ID_HIL_STATE; |
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152 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); |
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153 | } |
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154 | |
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155 | /** |
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156 | * @brief Pack a hil_state message on a channel |
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157 | * @param system_id ID of this system |
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158 | * @param component_id ID of this component (e.g. 200 for IMU) |
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159 | * @param chan The MAVLink channel this message will be sent over |
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160 | * @param msg The MAVLink message to compress the data into |
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161 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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162 | * @param roll Roll angle (rad) |
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163 | * @param pitch Pitch angle (rad) |
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164 | * @param yaw Yaw angle (rad) |
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165 | * @param rollspeed Body frame roll / phi angular speed (rad/s) |
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166 | * @param pitchspeed Body frame pitch / theta angular speed (rad/s) |
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167 | * @param yawspeed Body frame yaw / psi angular speed (rad/s) |
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168 | * @param lat Latitude, expressed as * 1E7 |
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169 | * @param lon Longitude, expressed as * 1E7 |
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170 | * @param alt Altitude in meters, expressed as * 1000 (millimeters) |
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171 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
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172 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
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173 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
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174 | * @param xacc X acceleration (mg) |
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175 | * @param yacc Y acceleration (mg) |
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176 | * @param zacc Z acceleration (mg) |
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177 | * @return length of the message in bytes (excluding serial stream start sign) |
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178 | */ |
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179 | static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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180 | mavlink_message_t* msg, |
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181 | uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc) |
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182 | { |
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183 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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184 | char buf[MAVLINK_MSG_ID_HIL_STATE_LEN]; |
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185 | _mav_put_uint64_t(buf, 0, time_usec); |
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186 | _mav_put_float(buf, 8, roll); |
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187 | _mav_put_float(buf, 12, pitch); |
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188 | _mav_put_float(buf, 16, yaw); |
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189 | _mav_put_float(buf, 20, rollspeed); |
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190 | _mav_put_float(buf, 24, pitchspeed); |
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191 | _mav_put_float(buf, 28, yawspeed); |
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192 | _mav_put_int32_t(buf, 32, lat); |
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193 | _mav_put_int32_t(buf, 36, lon); |
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194 | _mav_put_int32_t(buf, 40, alt); |
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195 | _mav_put_int16_t(buf, 44, vx); |
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196 | _mav_put_int16_t(buf, 46, vy); |
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197 | _mav_put_int16_t(buf, 48, vz); |
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198 | _mav_put_int16_t(buf, 50, xacc); |
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199 | _mav_put_int16_t(buf, 52, yacc); |
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200 | _mav_put_int16_t(buf, 54, zacc); |
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201 | |
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202 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN); |
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203 | #else |
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204 | mavlink_hil_state_t packet; |
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205 | packet.time_usec = time_usec; |
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206 | packet.roll = roll; |
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207 | packet.pitch = pitch; |
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208 | packet.yaw = yaw; |
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209 | packet.rollspeed = rollspeed; |
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210 | packet.pitchspeed = pitchspeed; |
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211 | packet.yawspeed = yawspeed; |
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212 | packet.lat = lat; |
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213 | packet.lon = lon; |
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214 | packet.alt = alt; |
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215 | packet.vx = vx; |
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216 | packet.vy = vy; |
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217 | packet.vz = vz; |
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218 | packet.xacc = xacc; |
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219 | packet.yacc = yacc; |
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220 | packet.zacc = zacc; |
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221 | |
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222 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN); |
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223 | #endif |
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224 | |
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225 | msg->msgid = MAVLINK_MSG_ID_HIL_STATE; |
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226 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); |
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227 | } |
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228 | |
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229 | /** |
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230 | * @brief Encode a hil_state struct |
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231 | * |
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232 | * @param system_id ID of this system |
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233 | * @param component_id ID of this component (e.g. 200 for IMU) |
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234 | * @param msg The MAVLink message to compress the data into |
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235 | * @param hil_state C-struct to read the message contents from |
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236 | */ |
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237 | static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state) |
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238 | { |
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239 | return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc); |
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240 | } |
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241 | |
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242 | /** |
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243 | * @brief Encode a hil_state struct on a channel |
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244 | * |
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245 | * @param system_id ID of this system |
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246 | * @param component_id ID of this component (e.g. 200 for IMU) |
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247 | * @param chan The MAVLink channel this message will be sent over |
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248 | * @param msg The MAVLink message to compress the data into |
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249 | * @param hil_state C-struct to read the message contents from |
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250 | */ |
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251 | static inline uint16_t mavlink_msg_hil_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state) |
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252 | { |
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253 | return mavlink_msg_hil_state_pack_chan(system_id, component_id, chan, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc); |
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254 | } |
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255 | |
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256 | /** |
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257 | * @brief Send a hil_state message |
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258 | * @param chan MAVLink channel to send the message |
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259 | * |
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260 | * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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261 | * @param roll Roll angle (rad) |
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262 | * @param pitch Pitch angle (rad) |
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263 | * @param yaw Yaw angle (rad) |
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264 | * @param rollspeed Body frame roll / phi angular speed (rad/s) |
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265 | * @param pitchspeed Body frame pitch / theta angular speed (rad/s) |
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266 | * @param yawspeed Body frame yaw / psi angular speed (rad/s) |
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267 | * @param lat Latitude, expressed as * 1E7 |
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268 | * @param lon Longitude, expressed as * 1E7 |
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269 | * @param alt Altitude in meters, expressed as * 1000 (millimeters) |
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270 | * @param vx Ground X Speed (Latitude), expressed as m/s * 100 |
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271 | * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 |
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272 | * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 |
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273 | * @param xacc X acceleration (mg) |
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274 | * @param yacc Y acceleration (mg) |
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275 | * @param zacc Z acceleration (mg) |
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276 | */ |
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277 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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278 | |
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279 | static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) |
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280 | { |
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281 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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282 | char buf[MAVLINK_MSG_ID_HIL_STATE_LEN]; |
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283 | _mav_put_uint64_t(buf, 0, time_usec); |
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284 | _mav_put_float(buf, 8, roll); |
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285 | _mav_put_float(buf, 12, pitch); |
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286 | _mav_put_float(buf, 16, yaw); |
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287 | _mav_put_float(buf, 20, rollspeed); |
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288 | _mav_put_float(buf, 24, pitchspeed); |
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289 | _mav_put_float(buf, 28, yawspeed); |
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290 | _mav_put_int32_t(buf, 32, lat); |
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291 | _mav_put_int32_t(buf, 36, lon); |
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292 | _mav_put_int32_t(buf, 40, alt); |
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293 | _mav_put_int16_t(buf, 44, vx); |
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294 | _mav_put_int16_t(buf, 46, vy); |
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295 | _mav_put_int16_t(buf, 48, vz); |
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296 | _mav_put_int16_t(buf, 50, xacc); |
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297 | _mav_put_int16_t(buf, 52, yacc); |
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298 | _mav_put_int16_t(buf, 54, zacc); |
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299 | |
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300 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); |
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301 | #else |
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302 | mavlink_hil_state_t packet; |
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303 | packet.time_usec = time_usec; |
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304 | packet.roll = roll; |
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305 | packet.pitch = pitch; |
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306 | packet.yaw = yaw; |
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307 | packet.rollspeed = rollspeed; |
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308 | packet.pitchspeed = pitchspeed; |
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309 | packet.yawspeed = yawspeed; |
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310 | packet.lat = lat; |
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311 | packet.lon = lon; |
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312 | packet.alt = alt; |
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313 | packet.vx = vx; |
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314 | packet.vy = vy; |
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315 | packet.vz = vz; |
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316 | packet.xacc = xacc; |
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317 | packet.yacc = yacc; |
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318 | packet.zacc = zacc; |
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319 | |
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320 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); |
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321 | #endif |
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322 | } |
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323 | |
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324 | /** |
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325 | * @brief Send a hil_state message |
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326 | * @param chan MAVLink channel to send the message |
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327 | * @param struct The MAVLink struct to serialize |
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328 | */ |
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329 | static inline void mavlink_msg_hil_state_send_struct(mavlink_channel_t chan, const mavlink_hil_state_t* hil_state) |
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330 | { |
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331 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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332 | mavlink_msg_hil_state_send(chan, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc); |
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333 | #else |
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334 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)hil_state, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); |
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335 | #endif |
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336 | } |
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337 | |
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338 | #if MAVLINK_MSG_ID_HIL_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN |
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339 | /* |
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340 | This varient of _send() can be used to save stack space by re-using |
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341 | memory from the receive buffer. The caller provides a |
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342 | mavlink_message_t which is the size of a full mavlink message. This |
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343 | is usually the receive buffer for the channel, and allows a reply to an |
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344 | incoming message with minimum stack space usage. |
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345 | */ |
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346 | static inline void mavlink_msg_hil_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc) |
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347 | { |
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348 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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349 | char *buf = (char *)msgbuf; |
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350 | _mav_put_uint64_t(buf, 0, time_usec); |
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351 | _mav_put_float(buf, 8, roll); |
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352 | _mav_put_float(buf, 12, pitch); |
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353 | _mav_put_float(buf, 16, yaw); |
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354 | _mav_put_float(buf, 20, rollspeed); |
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355 | _mav_put_float(buf, 24, pitchspeed); |
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356 | _mav_put_float(buf, 28, yawspeed); |
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357 | _mav_put_int32_t(buf, 32, lat); |
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358 | _mav_put_int32_t(buf, 36, lon); |
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359 | _mav_put_int32_t(buf, 40, alt); |
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360 | _mav_put_int16_t(buf, 44, vx); |
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361 | _mav_put_int16_t(buf, 46, vy); |
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362 | _mav_put_int16_t(buf, 48, vz); |
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363 | _mav_put_int16_t(buf, 50, xacc); |
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364 | _mav_put_int16_t(buf, 52, yacc); |
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365 | _mav_put_int16_t(buf, 54, zacc); |
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366 | |
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367 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); |
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368 | #else |
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369 | mavlink_hil_state_t *packet = (mavlink_hil_state_t *)msgbuf; |
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370 | packet->time_usec = time_usec; |
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371 | packet->roll = roll; |
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372 | packet->pitch = pitch; |
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373 | packet->yaw = yaw; |
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374 | packet->rollspeed = rollspeed; |
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375 | packet->pitchspeed = pitchspeed; |
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376 | packet->yawspeed = yawspeed; |
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377 | packet->lat = lat; |
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378 | packet->lon = lon; |
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379 | packet->alt = alt; |
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380 | packet->vx = vx; |
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381 | packet->vy = vy; |
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382 | packet->vz = vz; |
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383 | packet->xacc = xacc; |
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384 | packet->yacc = yacc; |
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385 | packet->zacc = zacc; |
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386 | |
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387 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC); |
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388 | #endif |
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389 | } |
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390 | #endif |
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391 | |
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392 | #endif |
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393 | |
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394 | // MESSAGE HIL_STATE UNPACKING |
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395 | |
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396 | |
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397 | /** |
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398 | * @brief Get field time_usec from hil_state message |
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399 | * |
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400 | * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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401 | */ |
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402 | static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg) |
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403 | { |
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404 | return _MAV_RETURN_uint64_t(msg, 0); |
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405 | } |
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406 | |
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407 | /** |
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408 | * @brief Get field roll from hil_state message |
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409 | * |
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410 | * @return Roll angle (rad) |
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411 | */ |
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412 | static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg) |
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413 | { |
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414 | return _MAV_RETURN_float(msg, 8); |
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415 | } |
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416 | |
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417 | /** |
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418 | * @brief Get field pitch from hil_state message |
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419 | * |
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420 | * @return Pitch angle (rad) |
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421 | */ |
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422 | static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg) |
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423 | { |
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424 | return _MAV_RETURN_float(msg, 12); |
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425 | } |
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426 | |
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427 | /** |
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428 | * @brief Get field yaw from hil_state message |
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429 | * |
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430 | * @return Yaw angle (rad) |
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431 | */ |
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432 | static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg) |
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433 | { |
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434 | return _MAV_RETURN_float(msg, 16); |
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435 | } |
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436 | |
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437 | /** |
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438 | * @brief Get field rollspeed from hil_state message |
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439 | * |
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440 | * @return Body frame roll / phi angular speed (rad/s) |
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441 | */ |
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442 | static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg) |
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443 | { |
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444 | return _MAV_RETURN_float(msg, 20); |
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445 | } |
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446 | |
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447 | /** |
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448 | * @brief Get field pitchspeed from hil_state message |
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449 | * |
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450 | * @return Body frame pitch / theta angular speed (rad/s) |
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451 | */ |
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452 | static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg) |
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453 | { |
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454 | return _MAV_RETURN_float(msg, 24); |
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455 | } |
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456 | |
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457 | /** |
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458 | * @brief Get field yawspeed from hil_state message |
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459 | * |
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460 | * @return Body frame yaw / psi angular speed (rad/s) |
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461 | */ |
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462 | static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg) |
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463 | { |
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464 | return _MAV_RETURN_float(msg, 28); |
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465 | } |
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466 | |
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467 | /** |
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468 | * @brief Get field lat from hil_state message |
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469 | * |
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470 | * @return Latitude, expressed as * 1E7 |
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471 | */ |
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472 | static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg) |
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473 | { |
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474 | return _MAV_RETURN_int32_t(msg, 32); |
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475 | } |
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476 | |
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477 | /** |
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478 | * @brief Get field lon from hil_state message |
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479 | * |
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480 | * @return Longitude, expressed as * 1E7 |
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481 | */ |
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482 | static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg) |
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483 | { |
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484 | return _MAV_RETURN_int32_t(msg, 36); |
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485 | } |
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486 | |
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487 | /** |
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488 | * @brief Get field alt from hil_state message |
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489 | * |
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490 | * @return Altitude in meters, expressed as * 1000 (millimeters) |
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491 | */ |
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492 | static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg) |
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493 | { |
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494 | return _MAV_RETURN_int32_t(msg, 40); |
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495 | } |
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496 | |
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497 | /** |
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498 | * @brief Get field vx from hil_state message |
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499 | * |
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500 | * @return Ground X Speed (Latitude), expressed as m/s * 100 |
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501 | */ |
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502 | static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg) |
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503 | { |
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504 | return _MAV_RETURN_int16_t(msg, 44); |
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505 | } |
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506 | |
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507 | /** |
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508 | * @brief Get field vy from hil_state message |
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509 | * |
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510 | * @return Ground Y Speed (Longitude), expressed as m/s * 100 |
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511 | */ |
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512 | static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg) |
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513 | { |
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514 | return _MAV_RETURN_int16_t(msg, 46); |
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515 | } |
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516 | |
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517 | /** |
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518 | * @brief Get field vz from hil_state message |
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519 | * |
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520 | * @return Ground Z Speed (Altitude), expressed as m/s * 100 |
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521 | */ |
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522 | static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg) |
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523 | { |
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524 | return _MAV_RETURN_int16_t(msg, 48); |
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525 | } |
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526 | |
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527 | /** |
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528 | * @brief Get field xacc from hil_state message |
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529 | * |
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530 | * @return X acceleration (mg) |
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531 | */ |
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532 | static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg) |
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533 | { |
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534 | return _MAV_RETURN_int16_t(msg, 50); |
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535 | } |
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536 | |
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537 | /** |
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538 | * @brief Get field yacc from hil_state message |
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539 | * |
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540 | * @return Y acceleration (mg) |
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541 | */ |
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542 | static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg) |
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543 | { |
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544 | return _MAV_RETURN_int16_t(msg, 52); |
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545 | } |
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546 | |
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547 | /** |
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548 | * @brief Get field zacc from hil_state message |
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549 | * |
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550 | * @return Z acceleration (mg) |
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551 | */ |
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552 | static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg) |
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553 | { |
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554 | return _MAV_RETURN_int16_t(msg, 54); |
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555 | } |
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556 | |
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557 | /** |
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558 | * @brief Decode a hil_state message into a struct |
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559 | * |
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560 | * @param msg The message to decode |
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561 | * @param hil_state C-struct to decode the message contents into |
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562 | */ |
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563 | static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state) |
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564 | { |
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565 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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566 | hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg); |
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567 | hil_state->roll = mavlink_msg_hil_state_get_roll(msg); |
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568 | hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg); |
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569 | hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg); |
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570 | hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg); |
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571 | hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg); |
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572 | hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg); |
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573 | hil_state->lat = mavlink_msg_hil_state_get_lat(msg); |
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574 | hil_state->lon = mavlink_msg_hil_state_get_lon(msg); |
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575 | hil_state->alt = mavlink_msg_hil_state_get_alt(msg); |
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576 | hil_state->vx = mavlink_msg_hil_state_get_vx(msg); |
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577 | hil_state->vy = mavlink_msg_hil_state_get_vy(msg); |
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578 | hil_state->vz = mavlink_msg_hil_state_get_vz(msg); |
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579 | hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg); |
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580 | hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg); |
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581 | hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg); |
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582 | #else |
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583 | uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_STATE_LEN? msg->len : MAVLINK_MSG_ID_HIL_STATE_LEN; |
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584 | memset(hil_state, 0, MAVLINK_MSG_ID_HIL_STATE_LEN); |
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585 | memcpy(hil_state, _MAV_PAYLOAD(msg), len); |
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586 | #endif |
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587 | } |
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