source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/mavlink_generated_messages/common/mavlink_msg_scaled_imu.h @ 46

Last change on this file since 46 was 46, checked in by Thomas Fuhrmann, 5 years ago

Add the mavlink branch

File size: 16.6 KB
Line 
1// MESSAGE SCALED_IMU PACKING
2
3#define MAVLINK_MSG_ID_SCALED_IMU 26
4
5MAVPACKED(
6typedef struct __mavlink_scaled_imu_t {
7 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
8 int16_t xacc; /*< X acceleration (mg)*/
9 int16_t yacc; /*< Y acceleration (mg)*/
10 int16_t zacc; /*< Z acceleration (mg)*/
11 int16_t xgyro; /*< Angular speed around X axis (millirad /sec)*/
12 int16_t ygyro; /*< Angular speed around Y axis (millirad /sec)*/
13 int16_t zgyro; /*< Angular speed around Z axis (millirad /sec)*/
14 int16_t xmag; /*< X Magnetic field (milli tesla)*/
15 int16_t ymag; /*< Y Magnetic field (milli tesla)*/
16 int16_t zmag; /*< Z Magnetic field (milli tesla)*/
17}) mavlink_scaled_imu_t;
18
19#define MAVLINK_MSG_ID_SCALED_IMU_LEN 22
20#define MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN 22
21#define MAVLINK_MSG_ID_26_LEN 22
22#define MAVLINK_MSG_ID_26_MIN_LEN 22
23
24#define MAVLINK_MSG_ID_SCALED_IMU_CRC 170
25#define MAVLINK_MSG_ID_26_CRC 170
26
27
28
29#if MAVLINK_COMMAND_24BIT
30#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
31        26, \
32        "SCALED_IMU", \
33        10, \
34        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
35         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
36         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
37         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
38         { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
39         { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
40         { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
41         { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
42         { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
43         { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
44         } \
45}
46#else
47#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
48        "SCALED_IMU", \
49        10, \
50        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
51         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
52         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
53         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
54         { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
55         { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
56         { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
57         { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
58         { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
59         { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
60         } \
61}
62#endif
63
64/**
65 * @brief Pack a scaled_imu message
66 * @param system_id ID of this system
67 * @param component_id ID of this component (e.g. 200 for IMU)
68 * @param msg The MAVLink message to compress the data into
69 *
70 * @param time_boot_ms Timestamp (milliseconds since system boot)
71 * @param xacc X acceleration (mg)
72 * @param yacc Y acceleration (mg)
73 * @param zacc Z acceleration (mg)
74 * @param xgyro Angular speed around X axis (millirad /sec)
75 * @param ygyro Angular speed around Y axis (millirad /sec)
76 * @param zgyro Angular speed around Z axis (millirad /sec)
77 * @param xmag X Magnetic field (milli tesla)
78 * @param ymag Y Magnetic field (milli tesla)
79 * @param zmag Z Magnetic field (milli tesla)
80 * @return length of the message in bytes (excluding serial stream start sign)
81 */
82static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
83                                                       uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
84{
85#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
86        char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
87        _mav_put_uint32_t(buf, 0, time_boot_ms);
88        _mav_put_int16_t(buf, 4, xacc);
89        _mav_put_int16_t(buf, 6, yacc);
90        _mav_put_int16_t(buf, 8, zacc);
91        _mav_put_int16_t(buf, 10, xgyro);
92        _mav_put_int16_t(buf, 12, ygyro);
93        _mav_put_int16_t(buf, 14, zgyro);
94        _mav_put_int16_t(buf, 16, xmag);
95        _mav_put_int16_t(buf, 18, ymag);
96        _mav_put_int16_t(buf, 20, zmag);
97
98        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
99#else
100        mavlink_scaled_imu_t packet;
101        packet.time_boot_ms = time_boot_ms;
102        packet.xacc = xacc;
103        packet.yacc = yacc;
104        packet.zacc = zacc;
105        packet.xgyro = xgyro;
106        packet.ygyro = ygyro;
107        packet.zgyro = zgyro;
108        packet.xmag = xmag;
109        packet.ymag = ymag;
110        packet.zmag = zmag;
111
112        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
113#endif
114
115        msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
116    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
117}
118
119/**
120 * @brief Pack a scaled_imu message on a channel
121 * @param system_id ID of this system
122 * @param component_id ID of this component (e.g. 200 for IMU)
123 * @param chan The MAVLink channel this message will be sent over
124 * @param msg The MAVLink message to compress the data into
125 * @param time_boot_ms Timestamp (milliseconds since system boot)
126 * @param xacc X acceleration (mg)
127 * @param yacc Y acceleration (mg)
128 * @param zacc Z acceleration (mg)
129 * @param xgyro Angular speed around X axis (millirad /sec)
130 * @param ygyro Angular speed around Y axis (millirad /sec)
131 * @param zgyro Angular speed around Z axis (millirad /sec)
132 * @param xmag X Magnetic field (milli tesla)
133 * @param ymag Y Magnetic field (milli tesla)
134 * @param zmag Z Magnetic field (milli tesla)
135 * @return length of the message in bytes (excluding serial stream start sign)
136 */
137static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
138                                                           mavlink_message_t* msg,
139                                                           uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
140{
141#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
142        char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
143        _mav_put_uint32_t(buf, 0, time_boot_ms);
144        _mav_put_int16_t(buf, 4, xacc);
145        _mav_put_int16_t(buf, 6, yacc);
146        _mav_put_int16_t(buf, 8, zacc);
147        _mav_put_int16_t(buf, 10, xgyro);
148        _mav_put_int16_t(buf, 12, ygyro);
149        _mav_put_int16_t(buf, 14, zgyro);
150        _mav_put_int16_t(buf, 16, xmag);
151        _mav_put_int16_t(buf, 18, ymag);
152        _mav_put_int16_t(buf, 20, zmag);
153
154        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
155#else
156        mavlink_scaled_imu_t packet;
157        packet.time_boot_ms = time_boot_ms;
158        packet.xacc = xacc;
159        packet.yacc = yacc;
160        packet.zacc = zacc;
161        packet.xgyro = xgyro;
162        packet.ygyro = ygyro;
163        packet.zgyro = zgyro;
164        packet.xmag = xmag;
165        packet.ymag = ymag;
166        packet.zmag = zmag;
167
168        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
169#endif
170
171        msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
172    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
173}
174
175/**
176 * @brief Encode a scaled_imu struct
177 *
178 * @param system_id ID of this system
179 * @param component_id ID of this component (e.g. 200 for IMU)
180 * @param msg The MAVLink message to compress the data into
181 * @param scaled_imu C-struct to read the message contents from
182 */
183static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
184{
185        return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
186}
187
188/**
189 * @brief Encode a scaled_imu struct on a channel
190 *
191 * @param system_id ID of this system
192 * @param component_id ID of this component (e.g. 200 for IMU)
193 * @param chan The MAVLink channel this message will be sent over
194 * @param msg The MAVLink message to compress the data into
195 * @param scaled_imu C-struct to read the message contents from
196 */
197static inline uint16_t mavlink_msg_scaled_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
198{
199        return mavlink_msg_scaled_imu_pack_chan(system_id, component_id, chan, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
200}
201
202/**
203 * @brief Send a scaled_imu message
204 * @param chan MAVLink channel to send the message
205 *
206 * @param time_boot_ms Timestamp (milliseconds since system boot)
207 * @param xacc X acceleration (mg)
208 * @param yacc Y acceleration (mg)
209 * @param zacc Z acceleration (mg)
210 * @param xgyro Angular speed around X axis (millirad /sec)
211 * @param ygyro Angular speed around Y axis (millirad /sec)
212 * @param zgyro Angular speed around Z axis (millirad /sec)
213 * @param xmag X Magnetic field (milli tesla)
214 * @param ymag Y Magnetic field (milli tesla)
215 * @param zmag Z Magnetic field (milli tesla)
216 */
217#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
218
219static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
220{
221#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
222        char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
223        _mav_put_uint32_t(buf, 0, time_boot_ms);
224        _mav_put_int16_t(buf, 4, xacc);
225        _mav_put_int16_t(buf, 6, yacc);
226        _mav_put_int16_t(buf, 8, zacc);
227        _mav_put_int16_t(buf, 10, xgyro);
228        _mav_put_int16_t(buf, 12, ygyro);
229        _mav_put_int16_t(buf, 14, zgyro);
230        _mav_put_int16_t(buf, 16, xmag);
231        _mav_put_int16_t(buf, 18, ymag);
232        _mav_put_int16_t(buf, 20, zmag);
233
234    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
235#else
236        mavlink_scaled_imu_t packet;
237        packet.time_boot_ms = time_boot_ms;
238        packet.xacc = xacc;
239        packet.yacc = yacc;
240        packet.zacc = zacc;
241        packet.xgyro = xgyro;
242        packet.ygyro = ygyro;
243        packet.zgyro = zgyro;
244        packet.xmag = xmag;
245        packet.ymag = ymag;
246        packet.zmag = zmag;
247
248    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
249#endif
250}
251
252/**
253 * @brief Send a scaled_imu message
254 * @param chan MAVLink channel to send the message
255 * @param struct The MAVLink struct to serialize
256 */
257static inline void mavlink_msg_scaled_imu_send_struct(mavlink_channel_t chan, const mavlink_scaled_imu_t* scaled_imu)
258{
259#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
260    mavlink_msg_scaled_imu_send(chan, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
261#else
262    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)scaled_imu, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
263#endif
264}
265
266#if MAVLINK_MSG_ID_SCALED_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN
267/*
268  This varient of _send() can be used to save stack space by re-using
269  memory from the receive buffer.  The caller provides a
270  mavlink_message_t which is the size of a full mavlink message. This
271  is usually the receive buffer for the channel, and allows a reply to an
272  incoming message with minimum stack space usage.
273 */
274static inline void mavlink_msg_scaled_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
275{
276#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
277        char *buf = (char *)msgbuf;
278        _mav_put_uint32_t(buf, 0, time_boot_ms);
279        _mav_put_int16_t(buf, 4, xacc);
280        _mav_put_int16_t(buf, 6, yacc);
281        _mav_put_int16_t(buf, 8, zacc);
282        _mav_put_int16_t(buf, 10, xgyro);
283        _mav_put_int16_t(buf, 12, ygyro);
284        _mav_put_int16_t(buf, 14, zgyro);
285        _mav_put_int16_t(buf, 16, xmag);
286        _mav_put_int16_t(buf, 18, ymag);
287        _mav_put_int16_t(buf, 20, zmag);
288
289    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
290#else
291        mavlink_scaled_imu_t *packet = (mavlink_scaled_imu_t *)msgbuf;
292        packet->time_boot_ms = time_boot_ms;
293        packet->xacc = xacc;
294        packet->yacc = yacc;
295        packet->zacc = zacc;
296        packet->xgyro = xgyro;
297        packet->ygyro = ygyro;
298        packet->zgyro = zgyro;
299        packet->xmag = xmag;
300        packet->ymag = ymag;
301        packet->zmag = zmag;
302
303    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
304#endif
305}
306#endif
307
308#endif
309
310// MESSAGE SCALED_IMU UNPACKING
311
312
313/**
314 * @brief Get field time_boot_ms from scaled_imu message
315 *
316 * @return Timestamp (milliseconds since system boot)
317 */
318static inline uint32_t mavlink_msg_scaled_imu_get_time_boot_ms(const mavlink_message_t* msg)
319{
320        return _MAV_RETURN_uint32_t(msg,  0);
321}
322
323/**
324 * @brief Get field xacc from scaled_imu message
325 *
326 * @return X acceleration (mg)
327 */
328static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg)
329{
330        return _MAV_RETURN_int16_t(msg,  4);
331}
332
333/**
334 * @brief Get field yacc from scaled_imu message
335 *
336 * @return Y acceleration (mg)
337 */
338static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg)
339{
340        return _MAV_RETURN_int16_t(msg,  6);
341}
342
343/**
344 * @brief Get field zacc from scaled_imu message
345 *
346 * @return Z acceleration (mg)
347 */
348static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg)
349{
350        return _MAV_RETURN_int16_t(msg,  8);
351}
352
353/**
354 * @brief Get field xgyro from scaled_imu message
355 *
356 * @return Angular speed around X axis (millirad /sec)
357 */
358static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg)
359{
360        return _MAV_RETURN_int16_t(msg,  10);
361}
362
363/**
364 * @brief Get field ygyro from scaled_imu message
365 *
366 * @return Angular speed around Y axis (millirad /sec)
367 */
368static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg)
369{
370        return _MAV_RETURN_int16_t(msg,  12);
371}
372
373/**
374 * @brief Get field zgyro from scaled_imu message
375 *
376 * @return Angular speed around Z axis (millirad /sec)
377 */
378static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg)
379{
380        return _MAV_RETURN_int16_t(msg,  14);
381}
382
383/**
384 * @brief Get field xmag from scaled_imu message
385 *
386 * @return X Magnetic field (milli tesla)
387 */
388static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg)
389{
390        return _MAV_RETURN_int16_t(msg,  16);
391}
392
393/**
394 * @brief Get field ymag from scaled_imu message
395 *
396 * @return Y Magnetic field (milli tesla)
397 */
398static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg)
399{
400        return _MAV_RETURN_int16_t(msg,  18);
401}
402
403/**
404 * @brief Get field zmag from scaled_imu message
405 *
406 * @return Z Magnetic field (milli tesla)
407 */
408static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg)
409{
410        return _MAV_RETURN_int16_t(msg,  20);
411}
412
413/**
414 * @brief Decode a scaled_imu message into a struct
415 *
416 * @param msg The message to decode
417 * @param scaled_imu C-struct to decode the message contents into
418 */
419static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu)
420{
421#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
422        scaled_imu->time_boot_ms = mavlink_msg_scaled_imu_get_time_boot_ms(msg);
423        scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg);
424        scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg);
425        scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg);
426        scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg);
427        scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg);
428        scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg);
429        scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg);
430        scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg);
431        scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg);
432#else
433        uint8_t len = msg->len < MAVLINK_MSG_ID_SCALED_IMU_LEN? msg->len : MAVLINK_MSG_ID_SCALED_IMU_LEN;
434        memset(scaled_imu, 0, MAVLINK_MSG_ID_SCALED_IMU_LEN);
435        memcpy(scaled_imu, _MAV_PAYLOAD(msg), len);
436#endif
437}
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