[88] | 1 | // MESSAGE ATTITUDE_QUATERNION_COV PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV 61
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_attitude_quaternion_cov_t
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| 6 | {
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| 7 | uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
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| 8 | float q[4]; /*< Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)*/
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| 9 | float rollspeed; /*< Roll angular speed (rad/s)*/
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| 10 | float pitchspeed; /*< Pitch angular speed (rad/s)*/
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| 11 | float yawspeed; /*< Yaw angular speed (rad/s)*/
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| 12 | float covariance[9]; /*< Attitude covariance*/
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| 13 | } mavlink_attitude_quaternion_cov_t;
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| 14 |
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| 15 | #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN 68
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| 16 | #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN 68
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| 17 | #define MAVLINK_MSG_ID_61_LEN 68
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| 18 | #define MAVLINK_MSG_ID_61_MIN_LEN 68
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| 19 |
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| 20 | #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC 153
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| 21 | #define MAVLINK_MSG_ID_61_CRC 153
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| 22 |
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| 23 | #define MAVLINK_MSG_ATTITUDE_QUATERNION_COV_FIELD_Q_LEN 4
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| 24 | #define MAVLINK_MSG_ATTITUDE_QUATERNION_COV_FIELD_COVARIANCE_LEN 9
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| 25 |
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| 26 | #if MAVLINK_COMMAND_24BIT
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| 27 | #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION_COV { \
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| 28 | 61, \
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| 29 | "ATTITUDE_QUATERNION_COV", \
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| 30 | 6, \
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| 31 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_cov_t, time_boot_ms) }, \
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| 32 | { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_quaternion_cov_t, q) }, \
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| 33 | { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_cov_t, rollspeed) }, \
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| 34 | { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_cov_t, pitchspeed) }, \
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| 35 | { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_cov_t, yawspeed) }, \
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| 36 | { "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 32, offsetof(mavlink_attitude_quaternion_cov_t, covariance) }, \
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| 37 | } \
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| 38 | }
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| 39 | #else
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| 40 | #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION_COV { \
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| 41 | "ATTITUDE_QUATERNION_COV", \
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| 42 | 6, \
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| 43 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_cov_t, time_boot_ms) }, \
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| 44 | { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_quaternion_cov_t, q) }, \
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| 45 | { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_cov_t, rollspeed) }, \
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| 46 | { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_cov_t, pitchspeed) }, \
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| 47 | { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_cov_t, yawspeed) }, \
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| 48 | { "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 32, offsetof(mavlink_attitude_quaternion_cov_t, covariance) }, \
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| 49 | } \
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| 50 | }
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| 51 | #endif
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| 52 |
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| 53 | /**
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| 54 | * @brief Pack a attitude_quaternion_cov message
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| 55 | * @param system_id ID of this system
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| 56 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 57 | * @param msg The MAVLink message to compress the data into
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| 58 | *
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| 59 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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| 60 | * @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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| 61 | * @param rollspeed Roll angular speed (rad/s)
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| 62 | * @param pitchspeed Pitch angular speed (rad/s)
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| 63 | * @param yawspeed Yaw angular speed (rad/s)
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| 64 | * @param covariance Attitude covariance
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| 65 | * @return length of the message in bytes (excluding serial stream start sign)
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| 66 | */
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| 67 | static inline uint16_t mavlink_msg_attitude_quaternion_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 68 | uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
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| 69 | {
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| 70 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 71 | char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN];
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| 72 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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| 73 | _mav_put_float(buf, 20, rollspeed);
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| 74 | _mav_put_float(buf, 24, pitchspeed);
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| 75 | _mav_put_float(buf, 28, yawspeed);
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| 76 | _mav_put_float_array(buf, 4, q, 4);
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| 77 | _mav_put_float_array(buf, 32, covariance, 9);
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| 78 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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| 79 | #else
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| 80 | mavlink_attitude_quaternion_cov_t packet;
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| 81 | packet.time_boot_ms = time_boot_ms;
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| 82 | packet.rollspeed = rollspeed;
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| 83 | packet.pitchspeed = pitchspeed;
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| 84 | packet.yawspeed = yawspeed;
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| 85 | mav_array_memcpy(packet.q, q, sizeof(float)*4);
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| 86 | mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
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| 87 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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| 88 | #endif
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| 89 |
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| 90 | msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV;
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| 91 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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| 92 | }
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| 93 |
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| 94 | /**
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| 95 | * @brief Pack a attitude_quaternion_cov message on a channel
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| 96 | * @param system_id ID of this system
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| 97 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 98 | * @param chan The MAVLink channel this message will be sent over
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| 99 | * @param msg The MAVLink message to compress the data into
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| 100 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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| 101 | * @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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| 102 | * @param rollspeed Roll angular speed (rad/s)
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| 103 | * @param pitchspeed Pitch angular speed (rad/s)
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| 104 | * @param yawspeed Yaw angular speed (rad/s)
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| 105 | * @param covariance Attitude covariance
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| 106 | * @return length of the message in bytes (excluding serial stream start sign)
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| 107 | */
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| 108 | static inline uint16_t mavlink_msg_attitude_quaternion_cov_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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| 109 | mavlink_message_t* msg,
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| 110 | uint32_t time_boot_ms,const float *q,float rollspeed,float pitchspeed,float yawspeed,const float *covariance)
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| 111 | {
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| 112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 113 | char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN];
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| 114 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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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_float_array(buf, 4, q, 4);
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| 119 | _mav_put_float_array(buf, 32, covariance, 9);
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| 120 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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| 121 | #else
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| 122 | mavlink_attitude_quaternion_cov_t packet;
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| 123 | packet.time_boot_ms = time_boot_ms;
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| 124 | packet.rollspeed = rollspeed;
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| 125 | packet.pitchspeed = pitchspeed;
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| 126 | packet.yawspeed = yawspeed;
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| 127 | mav_array_memcpy(packet.q, q, sizeof(float)*4);
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| 128 | mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
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| 129 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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| 130 | #endif
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| 131 |
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| 132 | msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV;
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| 133 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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| 134 | }
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| 135 |
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| 136 | /**
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| 137 | * @brief Encode a attitude_quaternion_cov struct
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| 138 | *
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| 139 | * @param system_id ID of this system
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| 140 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 141 | * @param msg The MAVLink message to compress the data into
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| 142 | * @param attitude_quaternion_cov C-struct to read the message contents from
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| 143 | */
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| 144 | static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
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| 145 | {
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| 146 | return mavlink_msg_attitude_quaternion_cov_pack(system_id, component_id, msg, attitude_quaternion_cov->time_boot_ms, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
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| 147 | }
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| 148 |
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| 149 | /**
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| 150 | * @brief Encode a attitude_quaternion_cov struct on a channel
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| 151 | *
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| 152 | * @param system_id ID of this system
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| 153 | * @param component_id ID of this component (e.g. 200 for IMU)
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| 154 | * @param chan The MAVLink channel this message will be sent over
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| 155 | * @param msg The MAVLink message to compress the data into
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| 156 | * @param attitude_quaternion_cov C-struct to read the message contents from
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| 157 | */
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| 158 | static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
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| 159 | {
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| 160 | return mavlink_msg_attitude_quaternion_cov_pack_chan(system_id, component_id, chan, msg, attitude_quaternion_cov->time_boot_ms, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
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| 161 | }
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| 162 |
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| 163 | /**
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| 164 | * @brief Send a attitude_quaternion_cov message
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| 165 | * @param chan MAVLink channel to send the message
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| 166 | *
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| 167 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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| 168 | * @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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| 169 | * @param rollspeed Roll angular speed (rad/s)
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| 170 | * @param pitchspeed Pitch angular speed (rad/s)
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| 171 | * @param yawspeed Yaw angular speed (rad/s)
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| 172 | * @param covariance Attitude covariance
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| 173 | */
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| 174 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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| 175 |
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| 176 | static inline void mavlink_msg_attitude_quaternion_cov_send(mavlink_channel_t chan, uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
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| 177 | {
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| 178 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 179 | char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN];
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| 180 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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| 181 | _mav_put_float(buf, 20, rollspeed);
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| 182 | _mav_put_float(buf, 24, pitchspeed);
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| 183 | _mav_put_float(buf, 28, yawspeed);
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| 184 | _mav_put_float_array(buf, 4, q, 4);
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| 185 | _mav_put_float_array(buf, 32, covariance, 9);
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| 186 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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| 187 | #else
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| 188 | mavlink_attitude_quaternion_cov_t packet;
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| 189 | packet.time_boot_ms = time_boot_ms;
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| 190 | packet.rollspeed = rollspeed;
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| 191 | packet.pitchspeed = pitchspeed;
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| 192 | packet.yawspeed = yawspeed;
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| 193 | mav_array_memcpy(packet.q, q, sizeof(float)*4);
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| 194 | mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
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| 195 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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| 196 | #endif
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| 197 | }
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| 198 |
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| 199 | /**
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| 200 | * @brief Send a attitude_quaternion_cov message
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| 201 | * @param chan MAVLink channel to send the message
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| 202 | * @param struct The MAVLink struct to serialize
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| 203 | */
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| 204 | static inline void mavlink_msg_attitude_quaternion_cov_send_struct(mavlink_channel_t chan, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
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| 205 | {
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| 206 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 207 | mavlink_msg_attitude_quaternion_cov_send(chan, attitude_quaternion_cov->time_boot_ms, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
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| 208 | #else
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| 209 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)attitude_quaternion_cov, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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| 210 | #endif
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| 211 | }
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| 212 |
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| 213 | #if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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| 214 | /*
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| 215 | This varient of _send() can be used to save stack space by re-using
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| 216 | memory from the receive buffer. The caller provides a
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| 217 | mavlink_message_t which is the size of a full mavlink message. This
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| 218 | is usually the receive buffer for the channel, and allows a reply to an
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| 219 | incoming message with minimum stack space usage.
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| 220 | */
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| 221 | static inline void mavlink_msg_attitude_quaternion_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
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| 222 | {
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| 223 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 224 | char *buf = (char *)msgbuf;
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| 225 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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| 226 | _mav_put_float(buf, 20, rollspeed);
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| 227 | _mav_put_float(buf, 24, pitchspeed);
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| 228 | _mav_put_float(buf, 28, yawspeed);
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| 229 | _mav_put_float_array(buf, 4, q, 4);
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| 230 | _mav_put_float_array(buf, 32, covariance, 9);
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| 231 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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| 232 | #else
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| 233 | mavlink_attitude_quaternion_cov_t *packet = (mavlink_attitude_quaternion_cov_t *)msgbuf;
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| 234 | packet->time_boot_ms = time_boot_ms;
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| 235 | packet->rollspeed = rollspeed;
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| 236 | packet->pitchspeed = pitchspeed;
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| 237 | packet->yawspeed = yawspeed;
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| 238 | mav_array_memcpy(packet->q, q, sizeof(float)*4);
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| 239 | mav_array_memcpy(packet->covariance, covariance, sizeof(float)*9);
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| 240 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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| 241 | #endif
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| 242 | }
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| 243 | #endif
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| 244 |
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| 245 | #endif
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| 246 |
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| 247 | // MESSAGE ATTITUDE_QUATERNION_COV UNPACKING
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| 248 |
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| 249 |
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| 250 | /**
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| 251 | * @brief Get field time_boot_ms from attitude_quaternion_cov message
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| 252 | *
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| 253 | * @return Timestamp (milliseconds since system boot)
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| 254 | */
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| 255 | static inline uint32_t mavlink_msg_attitude_quaternion_cov_get_time_boot_ms(const mavlink_message_t* msg)
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| 256 | {
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| 257 | return _MAV_RETURN_uint32_t(msg, 0);
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| 258 | }
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| 259 |
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| 260 | /**
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| 261 | * @brief Get field q from attitude_quaternion_cov message
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| 262 | *
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| 263 | * @return Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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| 264 | */
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| 265 | static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_q(const mavlink_message_t* msg, float *q)
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| 266 | {
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| 267 | return _MAV_RETURN_float_array(msg, q, 4, 4);
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| 268 | }
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| 269 |
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| 270 | /**
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| 271 | * @brief Get field rollspeed from attitude_quaternion_cov message
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| 272 | *
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| 273 | * @return Roll angular speed (rad/s)
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| 274 | */
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| 275 | static inline float mavlink_msg_attitude_quaternion_cov_get_rollspeed(const mavlink_message_t* msg)
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| 276 | {
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| 277 | return _MAV_RETURN_float(msg, 20);
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| 278 | }
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| 279 |
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| 280 | /**
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| 281 | * @brief Get field pitchspeed from attitude_quaternion_cov message
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| 282 | *
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| 283 | * @return Pitch angular speed (rad/s)
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| 284 | */
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| 285 | static inline float mavlink_msg_attitude_quaternion_cov_get_pitchspeed(const mavlink_message_t* msg)
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| 286 | {
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| 287 | return _MAV_RETURN_float(msg, 24);
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| 288 | }
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| 289 |
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| 290 | /**
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| 291 | * @brief Get field yawspeed from attitude_quaternion_cov message
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| 292 | *
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| 293 | * @return Yaw angular speed (rad/s)
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| 294 | */
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| 295 | static inline float mavlink_msg_attitude_quaternion_cov_get_yawspeed(const mavlink_message_t* msg)
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| 296 | {
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| 297 | return _MAV_RETURN_float(msg, 28);
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| 298 | }
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| 299 |
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| 300 | /**
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| 301 | * @brief Get field covariance from attitude_quaternion_cov message
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| 302 | *
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| 303 | * @return Attitude covariance
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| 304 | */
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| 305 | static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
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| 306 | {
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| 307 | return _MAV_RETURN_float_array(msg, covariance, 9, 32);
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| 308 | }
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| 309 |
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| 310 | /**
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| 311 | * @brief Decode a attitude_quaternion_cov message into a struct
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| 312 | *
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| 313 | * @param msg The message to decode
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| 314 | * @param attitude_quaternion_cov C-struct to decode the message contents into
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| 315 | */
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| 316 | static inline void mavlink_msg_attitude_quaternion_cov_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
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| 317 | {
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| 318 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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| 319 | attitude_quaternion_cov->time_boot_ms = mavlink_msg_attitude_quaternion_cov_get_time_boot_ms(msg);
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| 320 | mavlink_msg_attitude_quaternion_cov_get_q(msg, attitude_quaternion_cov->q);
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| 321 | attitude_quaternion_cov->rollspeed = mavlink_msg_attitude_quaternion_cov_get_rollspeed(msg);
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| 322 | attitude_quaternion_cov->pitchspeed = mavlink_msg_attitude_quaternion_cov_get_pitchspeed(msg);
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| 323 | attitude_quaternion_cov->yawspeed = mavlink_msg_attitude_quaternion_cov_get_yawspeed(msg);
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| 324 | mavlink_msg_attitude_quaternion_cov_get_covariance(msg, attitude_quaternion_cov->covariance);
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| 325 | #else
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| 326 | uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN;
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| 327 | memset(attitude_quaternion_cov, 0, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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| 328 | memcpy(attitude_quaternion_cov, _MAV_PAYLOAD(msg), len);
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| 329 | #endif
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| 330 | }
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