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290 lines
12 KiB
290 lines
12 KiB
// MESSAGE SCALED_IMU PACKING |
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#define MAVLINK_MSG_ID_SCALED_IMU 26 |
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typedef struct __mavlink_scaled_imu_t |
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{ |
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uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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int16_t xacc; ///< X acceleration (mg) |
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int16_t yacc; ///< Y acceleration (mg) |
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int16_t zacc; ///< Z acceleration (mg) |
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int16_t xgyro; ///< Angular speed around X axis (millirad /sec) |
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int16_t ygyro; ///< Angular speed around Y axis (millirad /sec) |
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int16_t zgyro; ///< Angular speed around Z axis (millirad /sec) |
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int16_t xmag; ///< X Magnetic field (milli tesla) |
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int16_t ymag; ///< Y Magnetic field (milli tesla) |
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int16_t zmag; ///< Z Magnetic field (milli tesla) |
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} mavlink_scaled_imu_t; |
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/** |
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* @brief Pack a scaled_imu message |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param msg The MAVLink message to compress the data into |
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* |
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* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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* @param xacc X acceleration (mg) |
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* @param yacc Y acceleration (mg) |
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* @param zacc Z acceleration (mg) |
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* @param xgyro Angular speed around X axis (millirad /sec) |
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* @param ygyro Angular speed around Y axis (millirad /sec) |
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* @param zgyro Angular speed around Z axis (millirad /sec) |
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* @param xmag X Magnetic field (milli tesla) |
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* @param ymag Y Magnetic field (milli tesla) |
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* @param zmag Z Magnetic field (milli tesla) |
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* @return length of the message in bytes (excluding serial stream start sign) |
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*/ |
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static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t 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) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; |
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i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) |
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i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) |
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i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) |
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i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (millirad /sec) |
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i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (millirad /sec) |
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i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (millirad /sec) |
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i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (milli tesla) |
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i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (milli tesla) |
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i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (milli tesla) |
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return mavlink_finalize_message(msg, system_id, component_id, i); |
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} |
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/** |
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* @brief Pack a scaled_imu message |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param chan The MAVLink channel this message was sent over |
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* @param msg The MAVLink message to compress the data into |
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* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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* @param xacc X acceleration (mg) |
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* @param yacc Y acceleration (mg) |
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* @param zacc Z acceleration (mg) |
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* @param xgyro Angular speed around X axis (millirad /sec) |
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* @param ygyro Angular speed around Y axis (millirad /sec) |
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* @param zgyro Angular speed around Z axis (millirad /sec) |
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* @param xmag X Magnetic field (milli tesla) |
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* @param ymag Y Magnetic field (milli tesla) |
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* @param zmag Z Magnetic field (milli tesla) |
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* @return length of the message in bytes (excluding serial stream start sign) |
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*/ |
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static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t 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) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_SCALED_IMU; |
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i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) |
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i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) |
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i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) |
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i += put_int16_t_by_index(xgyro, i, msg->payload); // Angular speed around X axis (millirad /sec) |
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i += put_int16_t_by_index(ygyro, i, msg->payload); // Angular speed around Y axis (millirad /sec) |
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i += put_int16_t_by_index(zgyro, i, msg->payload); // Angular speed around Z axis (millirad /sec) |
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i += put_int16_t_by_index(xmag, i, msg->payload); // X Magnetic field (milli tesla) |
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i += put_int16_t_by_index(ymag, i, msg->payload); // Y Magnetic field (milli tesla) |
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i += put_int16_t_by_index(zmag, i, msg->payload); // Z Magnetic field (milli tesla) |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
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} |
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/** |
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* @brief Encode a scaled_imu struct into a message |
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* |
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* @param system_id ID of this system |
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* @param component_id ID of this component (e.g. 200 for IMU) |
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* @param msg The MAVLink message to compress the data into |
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* @param scaled_imu C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu) |
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{ |
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return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->usec, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag); |
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} |
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/** |
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* @brief Send a scaled_imu message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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* @param xacc X acceleration (mg) |
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* @param yacc Y acceleration (mg) |
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* @param zacc Z acceleration (mg) |
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* @param xgyro Angular speed around X axis (millirad /sec) |
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* @param ygyro Angular speed around Y axis (millirad /sec) |
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* @param zgyro Angular speed around Z axis (millirad /sec) |
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* @param xmag X Magnetic field (milli tesla) |
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* @param ymag Y Magnetic field (milli tesla) |
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* @param zmag Z Magnetic field (milli tesla) |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint64_t 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) |
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{ |
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mavlink_message_t msg; |
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mavlink_msg_scaled_imu_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, xacc, yacc, zacc, xgyro, ygyro, zgyro, xmag, ymag, zmag); |
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mavlink_send_uart(chan, &msg); |
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} |
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#endif |
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// MESSAGE SCALED_IMU UNPACKING |
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/** |
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* @brief Get field usec from scaled_imu message |
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* |
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* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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*/ |
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static inline uint64_t mavlink_msg_scaled_imu_get_usec(const mavlink_message_t* msg) |
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{ |
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generic_64bit r; |
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r.b[7] = (msg->payload)[0]; |
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r.b[6] = (msg->payload)[1]; |
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r.b[5] = (msg->payload)[2]; |
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r.b[4] = (msg->payload)[3]; |
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r.b[3] = (msg->payload)[4]; |
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r.b[2] = (msg->payload)[5]; |
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r.b[1] = (msg->payload)[6]; |
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r.b[0] = (msg->payload)[7]; |
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return (uint64_t)r.ll; |
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} |
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/** |
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* @brief Get field xacc from scaled_imu message |
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* |
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* @return X acceleration (mg) |
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*/ |
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static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint64_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint64_t))[1]; |
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return (int16_t)r.s; |
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} |
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/** |
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* @brief Get field yacc from scaled_imu message |
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* |
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* @return Y acceleration (mg) |
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*/ |
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static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t))[1]; |
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return (int16_t)r.s; |
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} |
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/** |
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* @brief Get field zacc from scaled_imu message |
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* |
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* @return Z acceleration (mg) |
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*/ |
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static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
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return (int16_t)r.s; |
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} |
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/** |
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* @brief Get field xgyro from scaled_imu message |
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* |
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* @return Angular speed around X axis (millirad /sec) |
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*/ |
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static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
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return (int16_t)r.s; |
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} |
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/** |
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* @brief Get field ygyro from scaled_imu message |
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* |
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* @return Angular speed around Y axis (millirad /sec) |
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*/ |
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static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
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return (int16_t)r.s; |
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} |
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/** |
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* @brief Get field zgyro from scaled_imu message |
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* |
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* @return Angular speed around Z axis (millirad /sec) |
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*/ |
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static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
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return (int16_t)r.s; |
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} |
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/** |
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* @brief Get field xmag from scaled_imu message |
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* |
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* @return X Magnetic field (milli tesla) |
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*/ |
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static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
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return (int16_t)r.s; |
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} |
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/** |
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* @brief Get field ymag from scaled_imu message |
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* |
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* @return Y Magnetic field (milli tesla) |
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*/ |
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static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
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return (int16_t)r.s; |
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} |
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/** |
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* @brief Get field zmag from scaled_imu message |
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* |
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* @return Z Magnetic field (milli tesla) |
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*/ |
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static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg) |
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{ |
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generic_16bit r; |
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0]; |
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1]; |
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return (int16_t)r.s; |
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} |
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/** |
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* @brief Decode a scaled_imu message into a struct |
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* |
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* @param msg The message to decode |
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* @param scaled_imu C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu) |
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{ |
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scaled_imu->usec = mavlink_msg_scaled_imu_get_usec(msg); |
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scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg); |
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scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg); |
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scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg); |
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scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg); |
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scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg); |
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scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg); |
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scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg); |
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scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg); |
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scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg); |
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}
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