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

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 5 years ago

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File size: 23.4 KB
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1// MESSAGE HIL_SENSOR PACKING
2
3#define MAVLINK_MSG_ID_HIL_SENSOR 107
4
5typedef struct MAVLINK_PACKED __mavlink_hil_sensor_t
6{
7 uint64_t time_usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
8 float xacc; /*< X acceleration (m/s^2)*/
9 float yacc; /*< Y acceleration (m/s^2)*/
10 float zacc; /*< Z acceleration (m/s^2)*/
11 float xgyro; /*< Angular speed around X axis in body frame (rad / sec)*/
12 float ygyro; /*< Angular speed around Y axis in body frame (rad / sec)*/
13 float zgyro; /*< Angular speed around Z axis in body frame (rad / sec)*/
14 float xmag; /*< X Magnetic field (Gauss)*/
15 float ymag; /*< Y Magnetic field (Gauss)*/
16 float zmag; /*< Z Magnetic field (Gauss)*/
17 float abs_pressure; /*< Absolute pressure in millibar*/
18 float diff_pressure; /*< Differential pressure (airspeed) in millibar*/
19 float pressure_alt; /*< Altitude calculated from pressure*/
20 float temperature; /*< Temperature in degrees celsius*/
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.*/
22} mavlink_hil_sensor_t;
23
24#define MAVLINK_MSG_ID_HIL_SENSOR_LEN 64
25#define MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN 64
26#define MAVLINK_MSG_ID_107_LEN 64
27#define MAVLINK_MSG_ID_107_MIN_LEN 64
28
29#define MAVLINK_MSG_ID_HIL_SENSOR_CRC 108
30#define MAVLINK_MSG_ID_107_CRC 108
31
32
33
34#if MAVLINK_COMMAND_24BIT
35#define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \
36        107, \
37        "HIL_SENSOR", \
38        15, \
39        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
40         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
41         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
42         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
43         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
44         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
45         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
46         { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
47         { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
48         { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
49         { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
50         { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
51         { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
52         { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
53         { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \
54         } \
55}
56#else
57#define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \
58        "HIL_SENSOR", \
59        15, \
60        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
61         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
62         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
63         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
64         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
65         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
66         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
67         { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
68         { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
69         { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
70         { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
71         { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
72         { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
73         { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
74         { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \
75         } \
76}
77#endif
78
79/**
80 * @brief Pack a hil_sensor message
81 * @param system_id ID of this system
82 * @param component_id ID of this component (e.g. 200 for IMU)
83 * @param msg The MAVLink message to compress the data into
84 *
85 * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
86 * @param xacc X acceleration (m/s^2)
87 * @param yacc Y acceleration (m/s^2)
88 * @param zacc Z acceleration (m/s^2)
89 * @param xgyro Angular speed around X axis in body frame (rad / sec)
90 * @param ygyro Angular speed around Y axis in body frame (rad / sec)
91 * @param zgyro Angular speed around Z axis in body frame (rad / sec)
92 * @param xmag X Magnetic field (Gauss)
93 * @param ymag Y Magnetic field (Gauss)
94 * @param zmag Z Magnetic field (Gauss)
95 * @param abs_pressure Absolute pressure in millibar
96 * @param diff_pressure Differential pressure (airspeed) in millibar
97 * @param pressure_alt Altitude calculated from pressure
98 * @param temperature Temperature in degrees celsius
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.
100 * @return length of the message in bytes (excluding serial stream start sign)
101 */
102static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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)
104{
105#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
106        char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
107        _mav_put_uint64_t(buf, 0, time_usec);
108        _mav_put_float(buf, 8, xacc);
109        _mav_put_float(buf, 12, yacc);
110        _mav_put_float(buf, 16, zacc);
111        _mav_put_float(buf, 20, xgyro);
112        _mav_put_float(buf, 24, ygyro);
113        _mav_put_float(buf, 28, zgyro);
114        _mav_put_float(buf, 32, xmag);
115        _mav_put_float(buf, 36, ymag);
116        _mav_put_float(buf, 40, zmag);
117        _mav_put_float(buf, 44, abs_pressure);
118        _mav_put_float(buf, 48, diff_pressure);
119        _mav_put_float(buf, 52, pressure_alt);
120        _mav_put_float(buf, 56, temperature);
121        _mav_put_uint32_t(buf, 60, fields_updated);
122
123        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
124#else
125        mavlink_hil_sensor_t packet;
126        packet.time_usec = time_usec;
127        packet.xacc = xacc;
128        packet.yacc = yacc;
129        packet.zacc = zacc;
130        packet.xgyro = xgyro;
131        packet.ygyro = ygyro;
132        packet.zgyro = zgyro;
133        packet.xmag = xmag;
134        packet.ymag = ymag;
135        packet.zmag = zmag;
136        packet.abs_pressure = abs_pressure;
137        packet.diff_pressure = diff_pressure;
138        packet.pressure_alt = pressure_alt;
139        packet.temperature = temperature;
140        packet.fields_updated = fields_updated;
141
142        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
143#endif
144
145        msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
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);
147}
148
149/**
150 * @brief Pack a hil_sensor message on a channel
151 * @param system_id ID of this system
152 * @param component_id ID of this component (e.g. 200 for IMU)
153 * @param chan The MAVLink channel this message will be sent over
154 * @param msg The MAVLink message to compress the data into
155 * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
156 * @param xacc X acceleration (m/s^2)
157 * @param yacc Y acceleration (m/s^2)
158 * @param zacc Z acceleration (m/s^2)
159 * @param xgyro Angular speed around X axis in body frame (rad / sec)
160 * @param ygyro Angular speed around Y axis in body frame (rad / sec)
161 * @param zgyro Angular speed around Z axis in body frame (rad / sec)
162 * @param xmag X Magnetic field (Gauss)
163 * @param ymag Y Magnetic field (Gauss)
164 * @param zmag Z Magnetic field (Gauss)
165 * @param abs_pressure Absolute pressure in millibar
166 * @param diff_pressure Differential pressure (airspeed) in millibar
167 * @param pressure_alt Altitude calculated from pressure
168 * @param temperature Temperature in degrees celsius
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.
170 * @return length of the message in bytes (excluding serial stream start sign)
171 */
172static inline uint16_t mavlink_msg_hil_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
173                                                           mavlink_message_t* msg,
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)
175{
176#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
177        char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
178        _mav_put_uint64_t(buf, 0, time_usec);
179        _mav_put_float(buf, 8, xacc);
180        _mav_put_float(buf, 12, yacc);
181        _mav_put_float(buf, 16, zacc);
182        _mav_put_float(buf, 20, xgyro);
183        _mav_put_float(buf, 24, ygyro);
184        _mav_put_float(buf, 28, zgyro);
185        _mav_put_float(buf, 32, xmag);
186        _mav_put_float(buf, 36, ymag);
187        _mav_put_float(buf, 40, zmag);
188        _mav_put_float(buf, 44, abs_pressure);
189        _mav_put_float(buf, 48, diff_pressure);
190        _mav_put_float(buf, 52, pressure_alt);
191        _mav_put_float(buf, 56, temperature);
192        _mav_put_uint32_t(buf, 60, fields_updated);
193
194        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
195#else
196        mavlink_hil_sensor_t packet;
197        packet.time_usec = time_usec;
198        packet.xacc = xacc;
199        packet.yacc = yacc;
200        packet.zacc = zacc;
201        packet.xgyro = xgyro;
202        packet.ygyro = ygyro;
203        packet.zgyro = zgyro;
204        packet.xmag = xmag;
205        packet.ymag = ymag;
206        packet.zmag = zmag;
207        packet.abs_pressure = abs_pressure;
208        packet.diff_pressure = diff_pressure;
209        packet.pressure_alt = pressure_alt;
210        packet.temperature = temperature;
211        packet.fields_updated = fields_updated;
212
213        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
214#endif
215
216        msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
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);
218}
219
220/**
221 * @brief Encode a hil_sensor struct
222 *
223 * @param system_id ID of this system
224 * @param component_id ID of this component (e.g. 200 for IMU)
225 * @param msg The MAVLink message to compress the data into
226 * @param hil_sensor C-struct to read the message contents from
227 */
228static 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)
229{
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);
231}
232
233/**
234 * @brief Encode a hil_sensor struct on a channel
235 *
236 * @param system_id ID of this system
237 * @param component_id ID of this component (e.g. 200 for IMU)
238 * @param chan The MAVLink channel this message will be sent over
239 * @param msg The MAVLink message to compress the data into
240 * @param hil_sensor C-struct to read the message contents from
241 */
242static 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)
243{
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);
245}
246
247/**
248 * @brief Send a hil_sensor message
249 * @param chan MAVLink channel to send the message
250 *
251 * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
252 * @param xacc X acceleration (m/s^2)
253 * @param yacc Y acceleration (m/s^2)
254 * @param zacc Z acceleration (m/s^2)
255 * @param xgyro Angular speed around X axis in body frame (rad / sec)
256 * @param ygyro Angular speed around Y axis in body frame (rad / sec)
257 * @param zgyro Angular speed around Z axis in body frame (rad / sec)
258 * @param xmag X Magnetic field (Gauss)
259 * @param ymag Y Magnetic field (Gauss)
260 * @param zmag Z Magnetic field (Gauss)
261 * @param abs_pressure Absolute pressure in millibar
262 * @param diff_pressure Differential pressure (airspeed) in millibar
263 * @param pressure_alt Altitude calculated from pressure
264 * @param temperature Temperature in degrees celsius
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.
266 */
267#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
268
269static 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)
270{
271#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
272        char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
273        _mav_put_uint64_t(buf, 0, time_usec);
274        _mav_put_float(buf, 8, xacc);
275        _mav_put_float(buf, 12, yacc);
276        _mav_put_float(buf, 16, zacc);
277        _mav_put_float(buf, 20, xgyro);
278        _mav_put_float(buf, 24, ygyro);
279        _mav_put_float(buf, 28, zgyro);
280        _mav_put_float(buf, 32, xmag);
281        _mav_put_float(buf, 36, ymag);
282        _mav_put_float(buf, 40, zmag);
283        _mav_put_float(buf, 44, abs_pressure);
284        _mav_put_float(buf, 48, diff_pressure);
285        _mav_put_float(buf, 52, pressure_alt);
286        _mav_put_float(buf, 56, temperature);
287        _mav_put_uint32_t(buf, 60, fields_updated);
288
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);
290#else
291        mavlink_hil_sensor_t packet;
292        packet.time_usec = time_usec;
293        packet.xacc = xacc;
294        packet.yacc = yacc;
295        packet.zacc = zacc;
296        packet.xgyro = xgyro;
297        packet.ygyro = ygyro;
298        packet.zgyro = zgyro;
299        packet.xmag = xmag;
300        packet.ymag = ymag;
301        packet.zmag = zmag;
302        packet.abs_pressure = abs_pressure;
303        packet.diff_pressure = diff_pressure;
304        packet.pressure_alt = pressure_alt;
305        packet.temperature = temperature;
306        packet.fields_updated = fields_updated;
307
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);
309#endif
310}
311
312/**
313 * @brief Send a hil_sensor message
314 * @param chan MAVLink channel to send the message
315 * @param struct The MAVLink struct to serialize
316 */
317static inline void mavlink_msg_hil_sensor_send_struct(mavlink_channel_t chan, const mavlink_hil_sensor_t* hil_sensor)
318{
319#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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);
321#else
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);
323#endif
324}
325
326#if MAVLINK_MSG_ID_HIL_SENSOR_LEN <= MAVLINK_MAX_PAYLOAD_LEN
327/*
328  This varient of _send() can be used to save stack space by re-using
329  memory from the receive buffer.  The caller provides a
330  mavlink_message_t which is the size of a full mavlink message. This
331  is usually the receive buffer for the channel, and allows a reply to an
332  incoming message with minimum stack space usage.
333 */
334static 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)
335{
336#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
337        char *buf = (char *)msgbuf;
338        _mav_put_uint64_t(buf, 0, time_usec);
339        _mav_put_float(buf, 8, xacc);
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 */
388static 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 */
398static 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 */
408static 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 */
418static 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 */
428static 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 */
438static 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 */
448static 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 */
458static 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 */
468static 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 */
478static 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 */
488static 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 */
498static 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 */
508static 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 */
518static 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 */
528static 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 */
539static 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}
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