[324] | 1 | // MESSAGE HIL_SENSOR PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_HIL_SENSOR 107
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_hil_sensor_t
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| 6 | {
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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 in body frame (rad / sec)*/
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| 12 | float ygyro; /*< Angular speed around Y axis in body frame (rad / sec)*/
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| 13 | float zgyro; /*< Angular speed around Z axis in body frame (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 (airspeed) 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 | uint32_t fields_updated; /*< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.*/
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| 22 | } mavlink_hil_sensor_t;
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| 23 |
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| 24 | #define MAVLINK_MSG_ID_HIL_SENSOR_LEN 64
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| 25 | #define MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN 64
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| 26 | #define MAVLINK_MSG_ID_107_LEN 64
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| 27 | #define MAVLINK_MSG_ID_107_MIN_LEN 64
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| 28 |
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| 29 | #define MAVLINK_MSG_ID_HIL_SENSOR_CRC 108
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| 30 | #define MAVLINK_MSG_ID_107_CRC 108
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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_HIL_SENSOR { \
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| 36 | 107, \
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| 37 | "HIL_SENSOR", \
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| 38 | 15, \
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| 39 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
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| 40 | { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
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| 41 | { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
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| 42 | { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
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| 43 | { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
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| 44 | { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
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| 45 | { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
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| 46 | { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
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| 47 | { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
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| 48 | { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
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| 49 | { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
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| 50 | { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
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| 51 | { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
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| 52 | { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
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| 53 | { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_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_HIL_SENSOR { \
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| 58 | "HIL_SENSOR", \
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| 59 | 15, \
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| 60 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
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| 61 | { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
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| 62 | { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
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| 63 | { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
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| 64 | { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
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| 65 | { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
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| 66 | { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
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| 67 | { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
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| 68 | { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
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| 69 | { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
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| 70 | { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
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| 71 | { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
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| 72 | { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
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| 73 | { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
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| 74 | { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_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 hil_sensor 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 in body frame (rad / sec)
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| 90 | * @param ygyro Angular speed around Y axis in body frame (rad / sec)
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| 91 | * @param zgyro Angular speed around Z axis in body frame (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 (airspeed) 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, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
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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_hil_sensor_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, uint32_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_HIL_SENSOR_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_uint32_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_HIL_SENSOR_LEN);
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| 124 | #else
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| 125 | mavlink_hil_sensor_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_HIL_SENSOR_LEN);
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| 143 | #endif
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| 144 |
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| 145 | msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
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| 146 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
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| 147 | }
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| 148 |
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| 149 | /**
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| 150 | * @brief Pack a hil_sensor 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 in body frame (rad / sec)
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| 160 | * @param ygyro Angular speed around Y axis in body frame (rad / sec)
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| 161 | * @param zgyro Angular speed around Z axis in body frame (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 (airspeed) 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, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
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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_hil_sensor_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,uint32_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_HIL_SENSOR_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_uint32_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_HIL_SENSOR_LEN);
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| 195 | #else
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| 196 | mavlink_hil_sensor_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_HIL_SENSOR_LEN);
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| 214 | #endif
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| 215 |
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| 216 | msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
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| 217 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
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| 218 | }
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| 219 |
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| 220 | /**
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| 221 | * @brief Encode a hil_sensor 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 hil_sensor C-struct to read the message contents from
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| 227 | */
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| 228 | static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
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| 229 | {
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| 230 | return mavlink_msg_hil_sensor_pack(system_id, component_id, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->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 hil_sensor 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 hil_sensor C-struct to read the message contents from
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| 241 | */
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| 242 | static inline uint16_t mavlink_msg_hil_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
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| 243 | {
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| 244 | return mavlink_msg_hil_sensor_pack_chan(system_id, component_id, chan, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->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 hil_sensor 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 in body frame (rad / sec)
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| 256 | * @param ygyro Angular speed around Y axis in body frame (rad / sec)
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| 257 | * @param zgyro Angular speed around Z axis in body frame (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 (airspeed) 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, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
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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_hil_sensor_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, uint32_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_HIL_SENSOR_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_uint32_t(buf, 60, fields_updated);
|
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| 288 |
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| 289 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
|
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| 290 | #else
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| 291 | mavlink_hil_sensor_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_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_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 hil_sensor 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_hil_sensor_send_struct(mavlink_channel_t chan, const mavlink_hil_sensor_t* hil_sensor)
|
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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_hil_sensor_send(chan, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated);
|
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| 321 | #else
|
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| 322 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)hil_sensor, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_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_HIL_SENSOR_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_hil_sensor_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, uint32_t fields_updated)
|
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| 335 | {
|
---|
| 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);
|
---|
| 341 | _mav_put_float(buf, 16, zacc);
|
---|
| 342 | _mav_put_float(buf, 20, xgyro);
|
---|
| 343 | _mav_put_float(buf, 24, ygyro);
|
---|
| 344 | _mav_put_float(buf, 28, zgyro);
|
---|
| 345 | _mav_put_float(buf, 32, xmag);
|
---|
| 346 | _mav_put_float(buf, 36, ymag);
|
---|
| 347 | _mav_put_float(buf, 40, zmag);
|
---|
| 348 | _mav_put_float(buf, 44, abs_pressure);
|
---|
| 349 | _mav_put_float(buf, 48, diff_pressure);
|
---|
| 350 | _mav_put_float(buf, 52, pressure_alt);
|
---|
| 351 | _mav_put_float(buf, 56, temperature);
|
---|
| 352 | _mav_put_uint32_t(buf, 60, fields_updated);
|
---|
| 353 |
|
---|
| 354 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
|
---|
| 355 | #else
|
---|
| 356 | mavlink_hil_sensor_t *packet = (mavlink_hil_sensor_t *)msgbuf;
|
---|
| 357 | packet->time_usec = time_usec;
|
---|
| 358 | packet->xacc = xacc;
|
---|
| 359 | packet->yacc = yacc;
|
---|
| 360 | packet->zacc = zacc;
|
---|
| 361 | packet->xgyro = xgyro;
|
---|
| 362 | packet->ygyro = ygyro;
|
---|
| 363 | packet->zgyro = zgyro;
|
---|
| 364 | packet->xmag = xmag;
|
---|
| 365 | packet->ymag = ymag;
|
---|
| 366 | packet->zmag = zmag;
|
---|
| 367 | packet->abs_pressure = abs_pressure;
|
---|
| 368 | packet->diff_pressure = diff_pressure;
|
---|
| 369 | packet->pressure_alt = pressure_alt;
|
---|
| 370 | packet->temperature = temperature;
|
---|
| 371 | packet->fields_updated = fields_updated;
|
---|
| 372 |
|
---|
| 373 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)packet, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
|
---|
| 374 | #endif
|
---|
| 375 | }
|
---|
| 376 | #endif
|
---|
| 377 |
|
---|
| 378 | #endif
|
---|
| 379 |
|
---|
| 380 | // MESSAGE HIL_SENSOR UNPACKING
|
---|
| 381 |
|
---|
| 382 |
|
---|
| 383 | /**
|
---|
| 384 | * @brief Get field time_usec from hil_sensor message
|
---|
| 385 | *
|
---|
| 386 | * @return Timestamp (microseconds, synced to UNIX time or since system boot)
|
---|
| 387 | */
|
---|
| 388 | static inline uint64_t mavlink_msg_hil_sensor_get_time_usec(const mavlink_message_t* msg)
|
---|
| 389 | {
|
---|
| 390 | return _MAV_RETURN_uint64_t(msg, 0);
|
---|
| 391 | }
|
---|
| 392 |
|
---|
| 393 | /**
|
---|
| 394 | * @brief Get field xacc from hil_sensor message
|
---|
| 395 | *
|
---|
| 396 | * @return X acceleration (m/s^2)
|
---|
| 397 | */
|
---|
| 398 | static inline float mavlink_msg_hil_sensor_get_xacc(const mavlink_message_t* msg)
|
---|
| 399 | {
|
---|
| 400 | return _MAV_RETURN_float(msg, 8);
|
---|
| 401 | }
|
---|
| 402 |
|
---|
| 403 | /**
|
---|
| 404 | * @brief Get field yacc from hil_sensor message
|
---|
| 405 | *
|
---|
| 406 | * @return Y acceleration (m/s^2)
|
---|
| 407 | */
|
---|
| 408 | static inline float mavlink_msg_hil_sensor_get_yacc(const mavlink_message_t* msg)
|
---|
| 409 | {
|
---|
| 410 | return _MAV_RETURN_float(msg, 12);
|
---|
| 411 | }
|
---|
| 412 |
|
---|
| 413 | /**
|
---|
| 414 | * @brief Get field zacc from hil_sensor message
|
---|
| 415 | *
|
---|
| 416 | * @return Z acceleration (m/s^2)
|
---|
| 417 | */
|
---|
| 418 | static inline float mavlink_msg_hil_sensor_get_zacc(const mavlink_message_t* msg)
|
---|
| 419 | {
|
---|
| 420 | return _MAV_RETURN_float(msg, 16);
|
---|
| 421 | }
|
---|
| 422 |
|
---|
| 423 | /**
|
---|
| 424 | * @brief Get field xgyro from hil_sensor message
|
---|
| 425 | *
|
---|
| 426 | * @return Angular speed around X axis in body frame (rad / sec)
|
---|
| 427 | */
|
---|
| 428 | static inline float mavlink_msg_hil_sensor_get_xgyro(const mavlink_message_t* msg)
|
---|
| 429 | {
|
---|
| 430 | return _MAV_RETURN_float(msg, 20);
|
---|
| 431 | }
|
---|
| 432 |
|
---|
| 433 | /**
|
---|
| 434 | * @brief Get field ygyro from hil_sensor message
|
---|
| 435 | *
|
---|
| 436 | * @return Angular speed around Y axis in body frame (rad / sec)
|
---|
| 437 | */
|
---|
| 438 | static inline float mavlink_msg_hil_sensor_get_ygyro(const mavlink_message_t* msg)
|
---|
| 439 | {
|
---|
| 440 | return _MAV_RETURN_float(msg, 24);
|
---|
| 441 | }
|
---|
| 442 |
|
---|
| 443 | /**
|
---|
| 444 | * @brief Get field zgyro from hil_sensor message
|
---|
| 445 | *
|
---|
| 446 | * @return Angular speed around Z axis in body frame (rad / sec)
|
---|
| 447 | */
|
---|
| 448 | static inline float mavlink_msg_hil_sensor_get_zgyro(const mavlink_message_t* msg)
|
---|
| 449 | {
|
---|
| 450 | return _MAV_RETURN_float(msg, 28);
|
---|
| 451 | }
|
---|
| 452 |
|
---|
| 453 | /**
|
---|
| 454 | * @brief Get field xmag from hil_sensor message
|
---|
| 455 | *
|
---|
| 456 | * @return X Magnetic field (Gauss)
|
---|
| 457 | */
|
---|
| 458 | static inline float mavlink_msg_hil_sensor_get_xmag(const mavlink_message_t* msg)
|
---|
| 459 | {
|
---|
| 460 | return _MAV_RETURN_float(msg, 32);
|
---|
| 461 | }
|
---|
| 462 |
|
---|
| 463 | /**
|
---|
| 464 | * @brief Get field ymag from hil_sensor message
|
---|
| 465 | *
|
---|
| 466 | * @return Y Magnetic field (Gauss)
|
---|
| 467 | */
|
---|
| 468 | static inline float mavlink_msg_hil_sensor_get_ymag(const mavlink_message_t* msg)
|
---|
| 469 | {
|
---|
| 470 | return _MAV_RETURN_float(msg, 36);
|
---|
| 471 | }
|
---|
| 472 |
|
---|
| 473 | /**
|
---|
| 474 | * @brief Get field zmag from hil_sensor message
|
---|
| 475 | *
|
---|
| 476 | * @return Z Magnetic field (Gauss)
|
---|
| 477 | */
|
---|
| 478 | static inline float mavlink_msg_hil_sensor_get_zmag(const mavlink_message_t* msg)
|
---|
| 479 | {
|
---|
| 480 | return _MAV_RETURN_float(msg, 40);
|
---|
| 481 | }
|
---|
| 482 |
|
---|
| 483 | /**
|
---|
| 484 | * @brief Get field abs_pressure from hil_sensor message
|
---|
| 485 | *
|
---|
| 486 | * @return Absolute pressure in millibar
|
---|
| 487 | */
|
---|
| 488 | static inline float mavlink_msg_hil_sensor_get_abs_pressure(const mavlink_message_t* msg)
|
---|
| 489 | {
|
---|
| 490 | return _MAV_RETURN_float(msg, 44);
|
---|
| 491 | }
|
---|
| 492 |
|
---|
| 493 | /**
|
---|
| 494 | * @brief Get field diff_pressure from hil_sensor message
|
---|
| 495 | *
|
---|
| 496 | * @return Differential pressure (airspeed) in millibar
|
---|
| 497 | */
|
---|
| 498 | static inline float mavlink_msg_hil_sensor_get_diff_pressure(const mavlink_message_t* msg)
|
---|
| 499 | {
|
---|
| 500 | return _MAV_RETURN_float(msg, 48);
|
---|
| 501 | }
|
---|
| 502 |
|
---|
| 503 | /**
|
---|
| 504 | * @brief Get field pressure_alt from hil_sensor message
|
---|
| 505 | *
|
---|
| 506 | * @return Altitude calculated from pressure
|
---|
| 507 | */
|
---|
| 508 | static inline float mavlink_msg_hil_sensor_get_pressure_alt(const mavlink_message_t* msg)
|
---|
| 509 | {
|
---|
| 510 | return _MAV_RETURN_float(msg, 52);
|
---|
| 511 | }
|
---|
| 512 |
|
---|
| 513 | /**
|
---|
| 514 | * @brief Get field temperature from hil_sensor message
|
---|
| 515 | *
|
---|
| 516 | * @return Temperature in degrees celsius
|
---|
| 517 | */
|
---|
| 518 | static inline float mavlink_msg_hil_sensor_get_temperature(const mavlink_message_t* msg)
|
---|
| 519 | {
|
---|
| 520 | return _MAV_RETURN_float(msg, 56);
|
---|
| 521 | }
|
---|
| 522 |
|
---|
| 523 | /**
|
---|
| 524 | * @brief Get field fields_updated from hil_sensor message
|
---|
| 525 | *
|
---|
| 526 | * @return Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
|
---|
| 527 | */
|
---|
| 528 | static inline uint32_t mavlink_msg_hil_sensor_get_fields_updated(const mavlink_message_t* msg)
|
---|
| 529 | {
|
---|
| 530 | return _MAV_RETURN_uint32_t(msg, 60);
|
---|
| 531 | }
|
---|
| 532 |
|
---|
| 533 | /**
|
---|
| 534 | * @brief Decode a hil_sensor message into a struct
|
---|
| 535 | *
|
---|
| 536 | * @param msg The message to decode
|
---|
| 537 | * @param hil_sensor C-struct to decode the message contents into
|
---|
| 538 | */
|
---|
| 539 | static inline void mavlink_msg_hil_sensor_decode(const mavlink_message_t* msg, mavlink_hil_sensor_t* hil_sensor)
|
---|
| 540 | {
|
---|
| 541 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
---|
| 542 | hil_sensor->time_usec = mavlink_msg_hil_sensor_get_time_usec(msg);
|
---|
| 543 | hil_sensor->xacc = mavlink_msg_hil_sensor_get_xacc(msg);
|
---|
| 544 | hil_sensor->yacc = mavlink_msg_hil_sensor_get_yacc(msg);
|
---|
| 545 | hil_sensor->zacc = mavlink_msg_hil_sensor_get_zacc(msg);
|
---|
| 546 | hil_sensor->xgyro = mavlink_msg_hil_sensor_get_xgyro(msg);
|
---|
| 547 | hil_sensor->ygyro = mavlink_msg_hil_sensor_get_ygyro(msg);
|
---|
| 548 | hil_sensor->zgyro = mavlink_msg_hil_sensor_get_zgyro(msg);
|
---|
| 549 | hil_sensor->xmag = mavlink_msg_hil_sensor_get_xmag(msg);
|
---|
| 550 | hil_sensor->ymag = mavlink_msg_hil_sensor_get_ymag(msg);
|
---|
| 551 | hil_sensor->zmag = mavlink_msg_hil_sensor_get_zmag(msg);
|
---|
| 552 | hil_sensor->abs_pressure = mavlink_msg_hil_sensor_get_abs_pressure(msg);
|
---|
| 553 | hil_sensor->diff_pressure = mavlink_msg_hil_sensor_get_diff_pressure(msg);
|
---|
| 554 | hil_sensor->pressure_alt = mavlink_msg_hil_sensor_get_pressure_alt(msg);
|
---|
| 555 | hil_sensor->temperature = mavlink_msg_hil_sensor_get_temperature(msg);
|
---|
| 556 | hil_sensor->fields_updated = mavlink_msg_hil_sensor_get_fields_updated(msg);
|
---|
| 557 | #else
|
---|
| 558 | uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_SENSOR_LEN? msg->len : MAVLINK_MSG_ID_HIL_SENSOR_LEN;
|
---|
| 559 | memset(hil_sensor, 0, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
|
---|
| 560 | memcpy(hil_sensor, _MAV_PAYLOAD(msg), len);
|
---|
| 561 | #endif
|
---|
| 562 | }
|
---|