// MESSAGE RAW_IMU PACKING #define MAVLINK_MSG_ID_RAW_IMU 27 typedef struct MAVLINK_PACKED __mavlink_raw_imu_t { uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/ int16_t xacc; /*< X acceleration (raw)*/ int16_t yacc; /*< Y acceleration (raw)*/ int16_t zacc; /*< Z acceleration (raw)*/ int16_t xgyro; /*< Angular speed around X axis (raw)*/ int16_t ygyro; /*< Angular speed around Y axis (raw)*/ int16_t zgyro; /*< Angular speed around Z axis (raw)*/ int16_t xmag; /*< X Magnetic field (raw)*/ int16_t ymag; /*< Y Magnetic field (raw)*/ int16_t zmag; /*< Z Magnetic field (raw)*/ } mavlink_raw_imu_t; #define MAVLINK_MSG_ID_RAW_IMU_LEN 26 #define MAVLINK_MSG_ID_RAW_IMU_MIN_LEN 26 #define MAVLINK_MSG_ID_27_LEN 26 #define MAVLINK_MSG_ID_27_MIN_LEN 26 #define MAVLINK_MSG_ID_RAW_IMU_CRC 144 #define MAVLINK_MSG_ID_27_CRC 144 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_RAW_IMU { \ 27, \ "RAW_IMU", \ 10, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \ { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \ { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \ { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \ { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \ { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \ { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \ { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \ { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \ { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_RAW_IMU { \ "RAW_IMU", \ 10, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \ { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \ { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \ { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \ { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \ { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \ { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \ { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \ { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \ { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \ } \ } #endif /** * @brief Pack a raw_imu message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param xacc X acceleration (raw) * @param yacc Y acceleration (raw) * @param zacc Z acceleration (raw) * @param xgyro Angular speed around X axis (raw) * @param ygyro Angular speed around Y axis (raw) * @param zgyro Angular speed around Z axis (raw) * @param xmag X Magnetic field (raw) * @param ymag Y Magnetic field (raw) * @param zmag Z Magnetic field (raw) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_RAW_IMU_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int16_t(buf, 8, xacc); _mav_put_int16_t(buf, 10, yacc); _mav_put_int16_t(buf, 12, zacc); _mav_put_int16_t(buf, 14, xgyro); _mav_put_int16_t(buf, 16, ygyro); _mav_put_int16_t(buf, 18, zgyro); _mav_put_int16_t(buf, 20, xmag); _mav_put_int16_t(buf, 22, ymag); _mav_put_int16_t(buf, 24, zmag); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN); #else mavlink_raw_imu_t packet; packet.time_usec = time_usec; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; packet.xgyro = xgyro; packet.ygyro = ygyro; packet.zgyro = zgyro; packet.xmag = xmag; packet.ymag = ymag; packet.zmag = zmag; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_IMU_LEN); #endif msg->msgid = MAVLINK_MSG_ID_RAW_IMU; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC); } /** * @brief Pack a raw_imu message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param xacc X acceleration (raw) * @param yacc Y acceleration (raw) * @param zacc Z acceleration (raw) * @param xgyro Angular speed around X axis (raw) * @param ygyro Angular speed around Y axis (raw) * @param zgyro Angular speed around Z axis (raw) * @param xmag X Magnetic field (raw) * @param ymag Y Magnetic field (raw) * @param zmag Z Magnetic field (raw) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_RAW_IMU_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int16_t(buf, 8, xacc); _mav_put_int16_t(buf, 10, yacc); _mav_put_int16_t(buf, 12, zacc); _mav_put_int16_t(buf, 14, xgyro); _mav_put_int16_t(buf, 16, ygyro); _mav_put_int16_t(buf, 18, zgyro); _mav_put_int16_t(buf, 20, xmag); _mav_put_int16_t(buf, 22, ymag); _mav_put_int16_t(buf, 24, zmag); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN); #else mavlink_raw_imu_t packet; packet.time_usec = time_usec; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; packet.xgyro = xgyro; packet.ygyro = ygyro; packet.zgyro = zgyro; packet.xmag = xmag; packet.ymag = ymag; packet.zmag = zmag; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_IMU_LEN); #endif msg->msgid = MAVLINK_MSG_ID_RAW_IMU; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC); } /** * @brief Encode a raw_imu struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param raw_imu C-struct to read the message contents from */ static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu) { return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag); } /** * @brief Encode a raw_imu struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param raw_imu C-struct to read the message contents from */ static inline uint16_t mavlink_msg_raw_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu) { return mavlink_msg_raw_imu_pack_chan(system_id, component_id, chan, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag); } /** * @brief Send a raw_imu message * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param xacc X acceleration (raw) * @param yacc Y acceleration (raw) * @param zacc Z acceleration (raw) * @param xgyro Angular speed around X axis (raw) * @param ygyro Angular speed around Y axis (raw) * @param zgyro Angular speed around Z axis (raw) * @param xmag X Magnetic field (raw) * @param ymag Y Magnetic field (raw) * @param zmag Z Magnetic field (raw) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_RAW_IMU_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int16_t(buf, 8, xacc); _mav_put_int16_t(buf, 10, yacc); _mav_put_int16_t(buf, 12, zacc); _mav_put_int16_t(buf, 14, xgyro); _mav_put_int16_t(buf, 16, ygyro); _mav_put_int16_t(buf, 18, zgyro); _mav_put_int16_t(buf, 20, xmag); _mav_put_int16_t(buf, 22, ymag); _mav_put_int16_t(buf, 24, zmag); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC); #else mavlink_raw_imu_t packet; packet.time_usec = time_usec; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; packet.xgyro = xgyro; packet.ygyro = ygyro; packet.zgyro = zgyro; packet.xmag = xmag; packet.ymag = ymag; packet.zmag = zmag; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC); #endif } /** * @brief Send a raw_imu message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_raw_imu_send_struct(mavlink_channel_t chan, const mavlink_raw_imu_t* raw_imu) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_raw_imu_send(chan, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)raw_imu, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC); #endif } #if MAVLINK_MSG_ID_RAW_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_raw_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int16_t(buf, 8, xacc); _mav_put_int16_t(buf, 10, yacc); _mav_put_int16_t(buf, 12, zacc); _mav_put_int16_t(buf, 14, xgyro); _mav_put_int16_t(buf, 16, ygyro); _mav_put_int16_t(buf, 18, zgyro); _mav_put_int16_t(buf, 20, xmag); _mav_put_int16_t(buf, 22, ymag); _mav_put_int16_t(buf, 24, zmag); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC); #else mavlink_raw_imu_t *packet = (mavlink_raw_imu_t *)msgbuf; packet->time_usec = time_usec; packet->xacc = xacc; packet->yacc = yacc; packet->zacc = zacc; packet->xgyro = xgyro; packet->ygyro = ygyro; packet->zgyro = zgyro; packet->xmag = xmag; packet->ymag = ymag; packet->zmag = zmag; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)packet, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC); #endif } #endif #endif // MESSAGE RAW_IMU UNPACKING /** * @brief Get field time_usec from raw_imu message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ static inline uint64_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field xacc from raw_imu message * * @return X acceleration (raw) */ static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 8); } /** * @brief Get field yacc from raw_imu message * * @return Y acceleration (raw) */ static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 10); } /** * @brief Get field zacc from raw_imu message * * @return Z acceleration (raw) */ static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 12); } /** * @brief Get field xgyro from raw_imu message * * @return Angular speed around X axis (raw) */ static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 14); } /** * @brief Get field ygyro from raw_imu message * * @return Angular speed around Y axis (raw) */ static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 16); } /** * @brief Get field zgyro from raw_imu message * * @return Angular speed around Z axis (raw) */ static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 18); } /** * @brief Get field xmag from raw_imu message * * @return X Magnetic field (raw) */ static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 20); } /** * @brief Get field ymag from raw_imu message * * @return Y Magnetic field (raw) */ static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 22); } /** * @brief Get field zmag from raw_imu message * * @return Z Magnetic field (raw) */ static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 24); } /** * @brief Decode a raw_imu message into a struct * * @param msg The message to decode * @param raw_imu C-struct to decode the message contents into */ static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS raw_imu->time_usec = mavlink_msg_raw_imu_get_time_usec(msg); raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg); raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg); raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg); raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg); raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg); raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg); raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg); raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg); raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_RAW_IMU_LEN? msg->len : MAVLINK_MSG_ID_RAW_IMU_LEN; memset(raw_imu, 0, MAVLINK_MSG_ID_RAW_IMU_LEN); memcpy(raw_imu, _MAV_PAYLOAD(msg), len); #endif }