source: flair-src/trunk/tools/Controller/Mavlink/src/include/common/mavlink_msg_control_system_state.h@ 88

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 8 years ago

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File size: 27.1 KB
Line 
1// MESSAGE CONTROL_SYSTEM_STATE PACKING
2
3#define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE 146
4
5typedef struct MAVLINK_PACKED __mavlink_control_system_state_t
6{
7 uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
8 float x_acc; /*< X acceleration in body frame*/
9 float y_acc; /*< Y acceleration in body frame*/
10 float z_acc; /*< Z acceleration in body frame*/
11 float x_vel; /*< X velocity in body frame*/
12 float y_vel; /*< Y velocity in body frame*/
13 float z_vel; /*< Z velocity in body frame*/
14 float x_pos; /*< X position in local frame*/
15 float y_pos; /*< Y position in local frame*/
16 float z_pos; /*< Z position in local frame*/
17 float airspeed; /*< Airspeed, set to -1 if unknown*/
18 float vel_variance[3]; /*< Variance of body velocity estimate*/
19 float pos_variance[3]; /*< Variance in local position*/
20 float q[4]; /*< The attitude, represented as Quaternion*/
21 float roll_rate; /*< Angular rate in roll axis*/
22 float pitch_rate; /*< Angular rate in pitch axis*/
23 float yaw_rate; /*< Angular rate in yaw axis*/
24} mavlink_control_system_state_t;
25
26#define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN 100
27#define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN 100
28#define MAVLINK_MSG_ID_146_LEN 100
29#define MAVLINK_MSG_ID_146_MIN_LEN 100
30
31#define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC 103
32#define MAVLINK_MSG_ID_146_CRC 103
33
34#define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_VEL_VARIANCE_LEN 3
35#define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_POS_VARIANCE_LEN 3
36#define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_Q_LEN 4
37
38#if MAVLINK_COMMAND_24BIT
39#define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \
40 146, \
41 "CONTROL_SYSTEM_STATE", \
42 17, \
43 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \
44 { "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \
45 { "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \
46 { "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \
47 { "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \
48 { "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \
49 { "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \
50 { "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \
51 { "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \
52 { "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \
53 { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \
54 { "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \
55 { "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \
56 { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \
57 { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \
58 { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \
59 { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \
60 } \
61}
62#else
63#define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \
64 "CONTROL_SYSTEM_STATE", \
65 17, \
66 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \
67 { "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \
68 { "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \
69 { "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \
70 { "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \
71 { "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \
72 { "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \
73 { "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \
74 { "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \
75 { "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \
76 { "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \
77 { "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \
78 { "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \
79 { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \
80 { "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \
81 { "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \
82 { "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \
83 } \
84}
85#endif
86
87/**
88 * @brief Pack a control_system_state message
89 * @param system_id ID of this system
90 * @param component_id ID of this component (e.g. 200 for IMU)
91 * @param msg The MAVLink message to compress the data into
92 *
93 * @param time_usec Timestamp (micros since boot or Unix epoch)
94 * @param x_acc X acceleration in body frame
95 * @param y_acc Y acceleration in body frame
96 * @param z_acc Z acceleration in body frame
97 * @param x_vel X velocity in body frame
98 * @param y_vel Y velocity in body frame
99 * @param z_vel Z velocity in body frame
100 * @param x_pos X position in local frame
101 * @param y_pos Y position in local frame
102 * @param z_pos Z position in local frame
103 * @param airspeed Airspeed, set to -1 if unknown
104 * @param vel_variance Variance of body velocity estimate
105 * @param pos_variance Variance in local position
106 * @param q The attitude, represented as Quaternion
107 * @param roll_rate Angular rate in roll axis
108 * @param pitch_rate Angular rate in pitch axis
109 * @param yaw_rate Angular rate in yaw axis
110 * @return length of the message in bytes (excluding serial stream start sign)
111 */
112static inline uint16_t mavlink_msg_control_system_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
113 uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
114{
115#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
116 char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN];
117 _mav_put_uint64_t(buf, 0, time_usec);
118 _mav_put_float(buf, 8, x_acc);
119 _mav_put_float(buf, 12, y_acc);
120 _mav_put_float(buf, 16, z_acc);
121 _mav_put_float(buf, 20, x_vel);
122 _mav_put_float(buf, 24, y_vel);
123 _mav_put_float(buf, 28, z_vel);
124 _mav_put_float(buf, 32, x_pos);
125 _mav_put_float(buf, 36, y_pos);
126 _mav_put_float(buf, 40, z_pos);
127 _mav_put_float(buf, 44, airspeed);
128 _mav_put_float(buf, 88, roll_rate);
129 _mav_put_float(buf, 92, pitch_rate);
130 _mav_put_float(buf, 96, yaw_rate);
131 _mav_put_float_array(buf, 48, vel_variance, 3);
132 _mav_put_float_array(buf, 60, pos_variance, 3);
133 _mav_put_float_array(buf, 72, q, 4);
134 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
135#else
136 mavlink_control_system_state_t packet;
137 packet.time_usec = time_usec;
138 packet.x_acc = x_acc;
139 packet.y_acc = y_acc;
140 packet.z_acc = z_acc;
141 packet.x_vel = x_vel;
142 packet.y_vel = y_vel;
143 packet.z_vel = z_vel;
144 packet.x_pos = x_pos;
145 packet.y_pos = y_pos;
146 packet.z_pos = z_pos;
147 packet.airspeed = airspeed;
148 packet.roll_rate = roll_rate;
149 packet.pitch_rate = pitch_rate;
150 packet.yaw_rate = yaw_rate;
151 mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
152 mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
153 mav_array_memcpy(packet.q, q, sizeof(float)*4);
154 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
155#endif
156
157 msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE;
158 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
159}
160
161/**
162 * @brief Pack a control_system_state message on a channel
163 * @param system_id ID of this system
164 * @param component_id ID of this component (e.g. 200 for IMU)
165 * @param chan The MAVLink channel this message will be sent over
166 * @param msg The MAVLink message to compress the data into
167 * @param time_usec Timestamp (micros since boot or Unix epoch)
168 * @param x_acc X acceleration in body frame
169 * @param y_acc Y acceleration in body frame
170 * @param z_acc Z acceleration in body frame
171 * @param x_vel X velocity in body frame
172 * @param y_vel Y velocity in body frame
173 * @param z_vel Z velocity in body frame
174 * @param x_pos X position in local frame
175 * @param y_pos Y position in local frame
176 * @param z_pos Z position in local frame
177 * @param airspeed Airspeed, set to -1 if unknown
178 * @param vel_variance Variance of body velocity estimate
179 * @param pos_variance Variance in local position
180 * @param q The attitude, represented as Quaternion
181 * @param roll_rate Angular rate in roll axis
182 * @param pitch_rate Angular rate in pitch axis
183 * @param yaw_rate Angular rate in yaw axis
184 * @return length of the message in bytes (excluding serial stream start sign)
185 */
186static inline uint16_t mavlink_msg_control_system_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
187 mavlink_message_t* msg,
188 uint64_t time_usec,float x_acc,float y_acc,float z_acc,float x_vel,float y_vel,float z_vel,float x_pos,float y_pos,float z_pos,float airspeed,const float *vel_variance,const float *pos_variance,const float *q,float roll_rate,float pitch_rate,float yaw_rate)
189{
190#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
191 char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN];
192 _mav_put_uint64_t(buf, 0, time_usec);
193 _mav_put_float(buf, 8, x_acc);
194 _mav_put_float(buf, 12, y_acc);
195 _mav_put_float(buf, 16, z_acc);
196 _mav_put_float(buf, 20, x_vel);
197 _mav_put_float(buf, 24, y_vel);
198 _mav_put_float(buf, 28, z_vel);
199 _mav_put_float(buf, 32, x_pos);
200 _mav_put_float(buf, 36, y_pos);
201 _mav_put_float(buf, 40, z_pos);
202 _mav_put_float(buf, 44, airspeed);
203 _mav_put_float(buf, 88, roll_rate);
204 _mav_put_float(buf, 92, pitch_rate);
205 _mav_put_float(buf, 96, yaw_rate);
206 _mav_put_float_array(buf, 48, vel_variance, 3);
207 _mav_put_float_array(buf, 60, pos_variance, 3);
208 _mav_put_float_array(buf, 72, q, 4);
209 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
210#else
211 mavlink_control_system_state_t packet;
212 packet.time_usec = time_usec;
213 packet.x_acc = x_acc;
214 packet.y_acc = y_acc;
215 packet.z_acc = z_acc;
216 packet.x_vel = x_vel;
217 packet.y_vel = y_vel;
218 packet.z_vel = z_vel;
219 packet.x_pos = x_pos;
220 packet.y_pos = y_pos;
221 packet.z_pos = z_pos;
222 packet.airspeed = airspeed;
223 packet.roll_rate = roll_rate;
224 packet.pitch_rate = pitch_rate;
225 packet.yaw_rate = yaw_rate;
226 mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
227 mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
228 mav_array_memcpy(packet.q, q, sizeof(float)*4);
229 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
230#endif
231
232 msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE;
233 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
234}
235
236/**
237 * @brief Encode a control_system_state struct
238 *
239 * @param system_id ID of this system
240 * @param component_id ID of this component (e.g. 200 for IMU)
241 * @param msg The MAVLink message to compress the data into
242 * @param control_system_state C-struct to read the message contents from
243 */
244static inline uint16_t mavlink_msg_control_system_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_system_state_t* control_system_state)
245{
246 return mavlink_msg_control_system_state_pack(system_id, component_id, msg, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
247}
248
249/**
250 * @brief Encode a control_system_state struct on a channel
251 *
252 * @param system_id ID of this system
253 * @param component_id ID of this component (e.g. 200 for IMU)
254 * @param chan The MAVLink channel this message will be sent over
255 * @param msg The MAVLink message to compress the data into
256 * @param control_system_state C-struct to read the message contents from
257 */
258static inline uint16_t mavlink_msg_control_system_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_control_system_state_t* control_system_state)
259{
260 return mavlink_msg_control_system_state_pack_chan(system_id, component_id, chan, msg, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
261}
262
263/**
264 * @brief Send a control_system_state message
265 * @param chan MAVLink channel to send the message
266 *
267 * @param time_usec Timestamp (micros since boot or Unix epoch)
268 * @param x_acc X acceleration in body frame
269 * @param y_acc Y acceleration in body frame
270 * @param z_acc Z acceleration in body frame
271 * @param x_vel X velocity in body frame
272 * @param y_vel Y velocity in body frame
273 * @param z_vel Z velocity in body frame
274 * @param x_pos X position in local frame
275 * @param y_pos Y position in local frame
276 * @param z_pos Z position in local frame
277 * @param airspeed Airspeed, set to -1 if unknown
278 * @param vel_variance Variance of body velocity estimate
279 * @param pos_variance Variance in local position
280 * @param q The attitude, represented as Quaternion
281 * @param roll_rate Angular rate in roll axis
282 * @param pitch_rate Angular rate in pitch axis
283 * @param yaw_rate Angular rate in yaw axis
284 */
285#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
286
287static inline void mavlink_msg_control_system_state_send(mavlink_channel_t chan, uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
288{
289#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
290 char buf[MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN];
291 _mav_put_uint64_t(buf, 0, time_usec);
292 _mav_put_float(buf, 8, x_acc);
293 _mav_put_float(buf, 12, y_acc);
294 _mav_put_float(buf, 16, z_acc);
295 _mav_put_float(buf, 20, x_vel);
296 _mav_put_float(buf, 24, y_vel);
297 _mav_put_float(buf, 28, z_vel);
298 _mav_put_float(buf, 32, x_pos);
299 _mav_put_float(buf, 36, y_pos);
300 _mav_put_float(buf, 40, z_pos);
301 _mav_put_float(buf, 44, airspeed);
302 _mav_put_float(buf, 88, roll_rate);
303 _mav_put_float(buf, 92, pitch_rate);
304 _mav_put_float(buf, 96, yaw_rate);
305 _mav_put_float_array(buf, 48, vel_variance, 3);
306 _mav_put_float_array(buf, 60, pos_variance, 3);
307 _mav_put_float_array(buf, 72, q, 4);
308 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
309#else
310 mavlink_control_system_state_t packet;
311 packet.time_usec = time_usec;
312 packet.x_acc = x_acc;
313 packet.y_acc = y_acc;
314 packet.z_acc = z_acc;
315 packet.x_vel = x_vel;
316 packet.y_vel = y_vel;
317 packet.z_vel = z_vel;
318 packet.x_pos = x_pos;
319 packet.y_pos = y_pos;
320 packet.z_pos = z_pos;
321 packet.airspeed = airspeed;
322 packet.roll_rate = roll_rate;
323 packet.pitch_rate = pitch_rate;
324 packet.yaw_rate = yaw_rate;
325 mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
326 mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
327 mav_array_memcpy(packet.q, q, sizeof(float)*4);
328 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)&packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
329#endif
330}
331
332/**
333 * @brief Send a control_system_state message
334 * @param chan MAVLink channel to send the message
335 * @param struct The MAVLink struct to serialize
336 */
337static inline void mavlink_msg_control_system_state_send_struct(mavlink_channel_t chan, const mavlink_control_system_state_t* control_system_state)
338{
339#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
340 mavlink_msg_control_system_state_send(chan, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
341#else
342 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)control_system_state, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
343#endif
344}
345
346#if MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
347/*
348 This varient of _send() can be used to save stack space by re-using
349 memory from the receive buffer. The caller provides a
350 mavlink_message_t which is the size of a full mavlink message. This
351 is usually the receive buffer for the channel, and allows a reply to an
352 incoming message with minimum stack space usage.
353 */
354static inline void mavlink_msg_control_system_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
355{
356#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
357 char *buf = (char *)msgbuf;
358 _mav_put_uint64_t(buf, 0, time_usec);
359 _mav_put_float(buf, 8, x_acc);
360 _mav_put_float(buf, 12, y_acc);
361 _mav_put_float(buf, 16, z_acc);
362 _mav_put_float(buf, 20, x_vel);
363 _mav_put_float(buf, 24, y_vel);
364 _mav_put_float(buf, 28, z_vel);
365 _mav_put_float(buf, 32, x_pos);
366 _mav_put_float(buf, 36, y_pos);
367 _mav_put_float(buf, 40, z_pos);
368 _mav_put_float(buf, 44, airspeed);
369 _mav_put_float(buf, 88, roll_rate);
370 _mav_put_float(buf, 92, pitch_rate);
371 _mav_put_float(buf, 96, yaw_rate);
372 _mav_put_float_array(buf, 48, vel_variance, 3);
373 _mav_put_float_array(buf, 60, pos_variance, 3);
374 _mav_put_float_array(buf, 72, q, 4);
375 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
376#else
377 mavlink_control_system_state_t *packet = (mavlink_control_system_state_t *)msgbuf;
378 packet->time_usec = time_usec;
379 packet->x_acc = x_acc;
380 packet->y_acc = y_acc;
381 packet->z_acc = z_acc;
382 packet->x_vel = x_vel;
383 packet->y_vel = y_vel;
384 packet->z_vel = z_vel;
385 packet->x_pos = x_pos;
386 packet->y_pos = y_pos;
387 packet->z_pos = z_pos;
388 packet->airspeed = airspeed;
389 packet->roll_rate = roll_rate;
390 packet->pitch_rate = pitch_rate;
391 packet->yaw_rate = yaw_rate;
392 mav_array_memcpy(packet->vel_variance, vel_variance, sizeof(float)*3);
393 mav_array_memcpy(packet->pos_variance, pos_variance, sizeof(float)*3);
394 mav_array_memcpy(packet->q, q, sizeof(float)*4);
395 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
396#endif
397}
398#endif
399
400#endif
401
402// MESSAGE CONTROL_SYSTEM_STATE UNPACKING
403
404
405/**
406 * @brief Get field time_usec from control_system_state message
407 *
408 * @return Timestamp (micros since boot or Unix epoch)
409 */
410static inline uint64_t mavlink_msg_control_system_state_get_time_usec(const mavlink_message_t* msg)
411{
412 return _MAV_RETURN_uint64_t(msg, 0);
413}
414
415/**
416 * @brief Get field x_acc from control_system_state message
417 *
418 * @return X acceleration in body frame
419 */
420static inline float mavlink_msg_control_system_state_get_x_acc(const mavlink_message_t* msg)
421{
422 return _MAV_RETURN_float(msg, 8);
423}
424
425/**
426 * @brief Get field y_acc from control_system_state message
427 *
428 * @return Y acceleration in body frame
429 */
430static inline float mavlink_msg_control_system_state_get_y_acc(const mavlink_message_t* msg)
431{
432 return _MAV_RETURN_float(msg, 12);
433}
434
435/**
436 * @brief Get field z_acc from control_system_state message
437 *
438 * @return Z acceleration in body frame
439 */
440static inline float mavlink_msg_control_system_state_get_z_acc(const mavlink_message_t* msg)
441{
442 return _MAV_RETURN_float(msg, 16);
443}
444
445/**
446 * @brief Get field x_vel from control_system_state message
447 *
448 * @return X velocity in body frame
449 */
450static inline float mavlink_msg_control_system_state_get_x_vel(const mavlink_message_t* msg)
451{
452 return _MAV_RETURN_float(msg, 20);
453}
454
455/**
456 * @brief Get field y_vel from control_system_state message
457 *
458 * @return Y velocity in body frame
459 */
460static inline float mavlink_msg_control_system_state_get_y_vel(const mavlink_message_t* msg)
461{
462 return _MAV_RETURN_float(msg, 24);
463}
464
465/**
466 * @brief Get field z_vel from control_system_state message
467 *
468 * @return Z velocity in body frame
469 */
470static inline float mavlink_msg_control_system_state_get_z_vel(const mavlink_message_t* msg)
471{
472 return _MAV_RETURN_float(msg, 28);
473}
474
475/**
476 * @brief Get field x_pos from control_system_state message
477 *
478 * @return X position in local frame
479 */
480static inline float mavlink_msg_control_system_state_get_x_pos(const mavlink_message_t* msg)
481{
482 return _MAV_RETURN_float(msg, 32);
483}
484
485/**
486 * @brief Get field y_pos from control_system_state message
487 *
488 * @return Y position in local frame
489 */
490static inline float mavlink_msg_control_system_state_get_y_pos(const mavlink_message_t* msg)
491{
492 return _MAV_RETURN_float(msg, 36);
493}
494
495/**
496 * @brief Get field z_pos from control_system_state message
497 *
498 * @return Z position in local frame
499 */
500static inline float mavlink_msg_control_system_state_get_z_pos(const mavlink_message_t* msg)
501{
502 return _MAV_RETURN_float(msg, 40);
503}
504
505/**
506 * @brief Get field airspeed from control_system_state message
507 *
508 * @return Airspeed, set to -1 if unknown
509 */
510static inline float mavlink_msg_control_system_state_get_airspeed(const mavlink_message_t* msg)
511{
512 return _MAV_RETURN_float(msg, 44);
513}
514
515/**
516 * @brief Get field vel_variance from control_system_state message
517 *
518 * @return Variance of body velocity estimate
519 */
520static inline uint16_t mavlink_msg_control_system_state_get_vel_variance(const mavlink_message_t* msg, float *vel_variance)
521{
522 return _MAV_RETURN_float_array(msg, vel_variance, 3, 48);
523}
524
525/**
526 * @brief Get field pos_variance from control_system_state message
527 *
528 * @return Variance in local position
529 */
530static inline uint16_t mavlink_msg_control_system_state_get_pos_variance(const mavlink_message_t* msg, float *pos_variance)
531{
532 return _MAV_RETURN_float_array(msg, pos_variance, 3, 60);
533}
534
535/**
536 * @brief Get field q from control_system_state message
537 *
538 * @return The attitude, represented as Quaternion
539 */
540static inline uint16_t mavlink_msg_control_system_state_get_q(const mavlink_message_t* msg, float *q)
541{
542 return _MAV_RETURN_float_array(msg, q, 4, 72);
543}
544
545/**
546 * @brief Get field roll_rate from control_system_state message
547 *
548 * @return Angular rate in roll axis
549 */
550static inline float mavlink_msg_control_system_state_get_roll_rate(const mavlink_message_t* msg)
551{
552 return _MAV_RETURN_float(msg, 88);
553}
554
555/**
556 * @brief Get field pitch_rate from control_system_state message
557 *
558 * @return Angular rate in pitch axis
559 */
560static inline float mavlink_msg_control_system_state_get_pitch_rate(const mavlink_message_t* msg)
561{
562 return _MAV_RETURN_float(msg, 92);
563}
564
565/**
566 * @brief Get field yaw_rate from control_system_state message
567 *
568 * @return Angular rate in yaw axis
569 */
570static inline float mavlink_msg_control_system_state_get_yaw_rate(const mavlink_message_t* msg)
571{
572 return _MAV_RETURN_float(msg, 96);
573}
574
575/**
576 * @brief Decode a control_system_state message into a struct
577 *
578 * @param msg The message to decode
579 * @param control_system_state C-struct to decode the message contents into
580 */
581static inline void mavlink_msg_control_system_state_decode(const mavlink_message_t* msg, mavlink_control_system_state_t* control_system_state)
582{
583#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
584 control_system_state->time_usec = mavlink_msg_control_system_state_get_time_usec(msg);
585 control_system_state->x_acc = mavlink_msg_control_system_state_get_x_acc(msg);
586 control_system_state->y_acc = mavlink_msg_control_system_state_get_y_acc(msg);
587 control_system_state->z_acc = mavlink_msg_control_system_state_get_z_acc(msg);
588 control_system_state->x_vel = mavlink_msg_control_system_state_get_x_vel(msg);
589 control_system_state->y_vel = mavlink_msg_control_system_state_get_y_vel(msg);
590 control_system_state->z_vel = mavlink_msg_control_system_state_get_z_vel(msg);
591 control_system_state->x_pos = mavlink_msg_control_system_state_get_x_pos(msg);
592 control_system_state->y_pos = mavlink_msg_control_system_state_get_y_pos(msg);
593 control_system_state->z_pos = mavlink_msg_control_system_state_get_z_pos(msg);
594 control_system_state->airspeed = mavlink_msg_control_system_state_get_airspeed(msg);
595 mavlink_msg_control_system_state_get_vel_variance(msg, control_system_state->vel_variance);
596 mavlink_msg_control_system_state_get_pos_variance(msg, control_system_state->pos_variance);
597 mavlink_msg_control_system_state_get_q(msg, control_system_state->q);
598 control_system_state->roll_rate = mavlink_msg_control_system_state_get_roll_rate(msg);
599 control_system_state->pitch_rate = mavlink_msg_control_system_state_get_pitch_rate(msg);
600 control_system_state->yaw_rate = mavlink_msg_control_system_state_get_yaw_rate(msg);
601#else
602 uint8_t len = msg->len < MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN? msg->len : MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN;
603 memset(control_system_state, 0, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
604 memcpy(control_system_state, _MAV_PAYLOAD(msg), len);
605#endif
606}
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