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zr-v4/libraries/GCS_MAVLink/include/common/mavlink_msg_hil_state.h

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// MESSAGE HIL_STATE PACKING
#define MAVLINK_MSG_ID_HIL_STATE 67
typedef struct __mavlink_hil_state_t
{
uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float rollspeed; ///< Roll angular speed (rad/s)
float pitchspeed; ///< Pitch angular speed (rad/s)
float yawspeed; ///< Yaw angular speed (rad/s)
int32_t lat; ///< Latitude, expressed as * 1E7
int32_t lon; ///< Longitude, expressed as * 1E7
int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
} mavlink_hil_state_t;
#define MAVLINK_MSG_ID_HIL_STATE_LEN 56
#define MAVLINK_MSG_ID_67_LEN 56
#define MAVLINK_MESSAGE_INFO_HIL_STATE { \
"HIL_STATE", \
16, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, usec) }, \
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
{ "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
{ "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
{ "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
{ "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
} \
}
/**
* @brief Pack a hil_state 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[56];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_put_int32_t(buf, 32, lat);
_mav_put_int32_t(buf, 36, lon);
_mav_put_int32_t(buf, 40, alt);
_mav_put_int16_t(buf, 44, vx);
_mav_put_int16_t(buf, 46, vy);
_mav_put_int16_t(buf, 48, vz);
_mav_put_int16_t(buf, 50, xacc);
_mav_put_int16_t(buf, 52, yacc);
_mav_put_int16_t(buf, 54, zacc);
memcpy(_MAV_PAYLOAD(msg), buf, 56);
#else
mavlink_hil_state_t packet;
packet.usec = usec;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
memcpy(_MAV_PAYLOAD(msg), &packet, 56);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
return mavlink_finalize_message(msg, system_id, component_id, 56);
}
/**
* @brief Pack a hil_state 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[56];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_put_int32_t(buf, 32, lat);
_mav_put_int32_t(buf, 36, lon);
_mav_put_int32_t(buf, 40, alt);
_mav_put_int16_t(buf, 44, vx);
_mav_put_int16_t(buf, 46, vy);
_mav_put_int16_t(buf, 48, vz);
_mav_put_int16_t(buf, 50, xacc);
_mav_put_int16_t(buf, 52, yacc);
_mav_put_int16_t(buf, 54, zacc);
memcpy(_MAV_PAYLOAD(msg), buf, 56);
#else
mavlink_hil_state_t packet;
packet.usec = usec;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
memcpy(_MAV_PAYLOAD(msg), &packet, 56);
#endif
msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56);
}
/**
* @brief Encode a hil_state struct into a 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 hil_state C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
{
return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
}
/**
* @brief Send a hil_state message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[56];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, roll);
_mav_put_float(buf, 12, pitch);
_mav_put_float(buf, 16, yaw);
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_put_int32_t(buf, 32, lat);
_mav_put_int32_t(buf, 36, lon);
_mav_put_int32_t(buf, 40, alt);
_mav_put_int16_t(buf, 44, vx);
_mav_put_int16_t(buf, 46, vy);
_mav_put_int16_t(buf, 48, vz);
_mav_put_int16_t(buf, 50, xacc);
_mav_put_int16_t(buf, 52, yacc);
_mav_put_int16_t(buf, 54, zacc);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56);
#else
mavlink_hil_state_t packet;
packet.usec = usec;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
packet.lat = lat;
packet.lon = lon;
packet.alt = alt;
packet.vx = vx;
packet.vy = vy;
packet.vz = vz;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56);
#endif
}
#endif
// MESSAGE HIL_STATE UNPACKING
/**
* @brief Get field usec from hil_state message
*
* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
*/
static inline uint64_t mavlink_msg_hil_state_get_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field roll from hil_state message
*
* @return Roll angle (rad)
*/
static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field pitch from hil_state message
*
* @return Pitch angle (rad)
*/
static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field yaw from hil_state message
*
* @return Yaw angle (rad)
*/
static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field rollspeed from hil_state message
*
* @return Roll angular speed (rad/s)
*/
static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field pitchspeed from hil_state message
*
* @return Pitch angular speed (rad/s)
*/
static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field yawspeed from hil_state message
*
* @return Yaw angular speed (rad/s)
*/
static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field lat from hil_state message
*
* @return Latitude, expressed as * 1E7
*/
static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 32);
}
/**
* @brief Get field lon from hil_state message
*
* @return Longitude, expressed as * 1E7
*/
static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 36);
}
/**
* @brief Get field alt from hil_state message
*
* @return Altitude in meters, expressed as * 1000 (millimeters)
*/
static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 40);
}
/**
* @brief Get field vx from hil_state message
*
* @return Ground X Speed (Latitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 44);
}
/**
* @brief Get field vy from hil_state message
*
* @return Ground Y Speed (Longitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 46);
}
/**
* @brief Get field vz from hil_state message
*
* @return Ground Z Speed (Altitude), expressed as m/s * 100
*/
static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 48);
}
/**
* @brief Get field xacc from hil_state message
*
* @return X acceleration (mg)
*/
static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 50);
}
/**
* @brief Get field yacc from hil_state message
*
* @return Y acceleration (mg)
*/
static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 52);
}
/**
* @brief Get field zacc from hil_state message
*
* @return Z acceleration (mg)
*/
static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 54);
}
/**
* @brief Decode a hil_state message into a struct
*
* @param msg The message to decode
* @param hil_state C-struct to decode the message contents into
*/
static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
{
#if MAVLINK_NEED_BYTE_SWAP
hil_state->usec = mavlink_msg_hil_state_get_usec(msg);
hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
#else
memcpy(hil_state, _MAV_PAYLOAD(msg), 56);
#endif
}