lib/main/MAVLink/common/mavlink_msg_attitude.h

   1 // MESSAGE ATTITUDE PACKING
   2
   3 #define MAVLINK_MSG_ID_ATTITUDE 30
   4
   5 typedef struct __mavlink_attitude_t
   6 {
   7  uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   8  float roll; ///< Roll angle (rad, -pi..+pi)
   9  float pitch; ///< Pitch angle (rad, -pi..+pi)
  10  float yaw; ///< Yaw angle (rad, -pi..+pi)
  11  float rollspeed; ///< Roll angular speed (rad/s)
  12  float pitchspeed; ///< Pitch angular speed (rad/s)
  13  float yawspeed; ///< Yaw angular speed (rad/s)
  14 } mavlink_attitude_t;
  15
  16 #define MAVLINK_MSG_ID_ATTITUDE_LEN 28
  17 #define MAVLINK_MSG_ID_30_LEN 28
  18
  19 #define MAVLINK_MSG_ID_ATTITUDE_CRC 39
  20 #define MAVLINK_MSG_ID_30_CRC 39
  21
  22
  23
  24 #define MAVLINK_MESSAGE_INFO_ATTITUDE { \
  25         "ATTITUDE", \
  26         7, \
  27         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
  28          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
  29          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
  30          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
  31          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
  32          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
  33          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
  34          } \
  35 }
  36
  37
  38 /**
  39  * @brief Pack a attitude message
  40  * @param system_id ID of this system
  41  * @param component_id ID of this component (e.g. 200 for IMU)
  42  * @param msg The MAVLink message to compress the data into
  43  *
  44  * @param time_boot_ms Timestamp (milliseconds since system boot)
  45  * @param roll Roll angle (rad, -pi..+pi)
  46  * @param pitch Pitch angle (rad, -pi..+pi)
  47  * @param yaw Yaw angle (rad, -pi..+pi)
  48  * @param rollspeed Roll angular speed (rad/s)
  49  * @param pitchspeed Pitch angular speed (rad/s)
  50  * @param yawspeed Yaw angular speed (rad/s)
  51  * @return length of the message in bytes (excluding serial stream start sign)
  52  */
  53 static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  54                                                        uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
  55 {
  56 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  57         char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
  58         _mav_put_uint32_t(buf, 0, time_boot_ms);
  59         _mav_put_float(buf, 4, roll);
  60         _mav_put_float(buf, 8, pitch);
  61         _mav_put_float(buf, 12, yaw);
  62         _mav_put_float(buf, 16, rollspeed);
  63         _mav_put_float(buf, 20, pitchspeed);
  64         _mav_put_float(buf, 24, yawspeed);
  65
  66         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
  67 #else
  68         mavlink_attitude_t packet;
  69         packet.time_boot_ms = time_boot_ms;
  70         packet.roll = roll;
  71         packet.pitch = pitch;
  72         packet.yaw = yaw;
  73         packet.rollspeed = rollspeed;
  74         packet.pitchspeed = pitchspeed;
  75         packet.yawspeed = yawspeed;
  76
  77         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
  78 #endif
  79
  80         msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
  81 #if MAVLINK_CRC_EXTRA
  82     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
  83 #else
  84     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN);
  85 #endif
  86 }
  87
  88 /**
  89  * @brief Pack a attitude message on a channel
  90  * @param system_id ID of this system
  91  * @param component_id ID of this component (e.g. 200 for IMU)
  92  * @param chan The MAVLink channel this message will be sent over
  93  * @param msg The MAVLink message to compress the data into
  94  * @param time_boot_ms Timestamp (milliseconds since system boot)
  95  * @param roll Roll angle (rad, -pi..+pi)
  96  * @param pitch Pitch angle (rad, -pi..+pi)
  97  * @param yaw Yaw angle (rad, -pi..+pi)
  98  * @param rollspeed Roll angular speed (rad/s)
  99  * @param pitchspeed Pitch angular speed (rad/s)
 100  * @param yawspeed Yaw angular speed (rad/s)
 101  * @return length of the message in bytes (excluding serial stream start sign)
 102  */
 103 static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 104                                                            mavlink_message_t* msg,
 105                                                            uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
 106 {
 107 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 108         char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
 109         _mav_put_uint32_t(buf, 0, time_boot_ms);
 110         _mav_put_float(buf, 4, roll);
 111         _mav_put_float(buf, 8, pitch);
 112         _mav_put_float(buf, 12, yaw);
 113         _mav_put_float(buf, 16, rollspeed);
 114         _mav_put_float(buf, 20, pitchspeed);
 115         _mav_put_float(buf, 24, yawspeed);
 116
 117         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
 118 #else
 119         mavlink_attitude_t packet;
 120         packet.time_boot_ms = time_boot_ms;
 121         packet.roll = roll;
 122         packet.pitch = pitch;
 123         packet.yaw = yaw;
 124         packet.rollspeed = rollspeed;
 125         packet.pitchspeed = pitchspeed;
 126         packet.yawspeed = yawspeed;
 127
 128         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
 129 #endif
 130
 131         msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
 132 #if MAVLINK_CRC_EXTRA
 133     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 134 #else
 135     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN);
 136 #endif
 137 }
 138
 139 /**
 140  * @brief Encode a attitude struct
 141  *
 142  * @param system_id ID of this system
 143  * @param component_id ID of this component (e.g. 200 for IMU)
 144  * @param msg The MAVLink message to compress the data into
 145  * @param attitude C-struct to read the message contents from
 146  */
 147 static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
 148 {
 149         return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
 150 }
 151
 152 /**
 153  * @brief Encode a attitude struct on a channel
 154  *
 155  * @param system_id ID of this system
 156  * @param component_id ID of this component (e.g. 200 for IMU)
 157  * @param chan The MAVLink channel this message will be sent over
 158  * @param msg The MAVLink message to compress the data into
 159  * @param attitude C-struct to read the message contents from
 160  */
 161 static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
 162 {
 163         return mavlink_msg_attitude_pack_chan(system_id, component_id, chan, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
 164 }
 165
 166 /**
 167  * @brief Send a attitude message
 168  * @param chan MAVLink channel to send the message
 169  *
 170  * @param time_boot_ms Timestamp (milliseconds since system boot)
 171  * @param roll Roll angle (rad, -pi..+pi)
 172  * @param pitch Pitch angle (rad, -pi..+pi)
 173  * @param yaw Yaw angle (rad, -pi..+pi)
 174  * @param rollspeed Roll angular speed (rad/s)
 175  * @param pitchspeed Pitch angular speed (rad/s)
 176  * @param yawspeed Yaw angular speed (rad/s)
 177  */
 178 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 179
 180 static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183         char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
 184         _mav_put_uint32_t(buf, 0, time_boot_ms);
 185         _mav_put_float(buf, 4, roll);
 186         _mav_put_float(buf, 8, pitch);
 187         _mav_put_float(buf, 12, yaw);
 188         _mav_put_float(buf, 16, rollspeed);
 189         _mav_put_float(buf, 20, pitchspeed);
 190         _mav_put_float(buf, 24, yawspeed);
 191
 192 #if MAVLINK_CRC_EXTRA
 193     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 194 #else
 195     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
 196 #endif
 197 #else
 198         mavlink_attitude_t packet;
 199         packet.time_boot_ms = time_boot_ms;
 200         packet.roll = roll;
 201         packet.pitch = pitch;
 202         packet.yaw = yaw;
 203         packet.rollspeed = rollspeed;
 204         packet.pitchspeed = pitchspeed;
 205         packet.yawspeed = yawspeed;
 206
 207 #if MAVLINK_CRC_EXTRA
 208     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 209 #else
 210     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
 211 #endif
 212 #endif
 213 }
 214
 215 #if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 216 /*
 217   This varient of _send() can be used to save stack space by re-using
 218   memory from the receive buffer.  The caller provides a
 219   mavlink_message_t which is the size of a full mavlink message. This
 220   is usually the receive buffer for the channel, and allows a reply to an
 221   incoming message with minimum stack space usage.
 222  */
 223 static inline void mavlink_msg_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
 224 {
 225 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 226         char *buf = (char *)msgbuf;
 227         _mav_put_uint32_t(buf, 0, time_boot_ms);
 228         _mav_put_float(buf, 4, roll);
 229         _mav_put_float(buf, 8, pitch);
 230         _mav_put_float(buf, 12, yaw);
 231         _mav_put_float(buf, 16, rollspeed);
 232         _mav_put_float(buf, 20, pitchspeed);
 233         _mav_put_float(buf, 24, yawspeed);
 234
 235 #if MAVLINK_CRC_EXTRA
 236     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 237 #else
 238     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
 239 #endif
 240 #else
 241         mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
 242         packet->time_boot_ms = time_boot_ms;
 243         packet->roll = roll;
 244         packet->pitch = pitch;
 245         packet->yaw = yaw;
 246         packet->rollspeed = rollspeed;
 247         packet->pitchspeed = pitchspeed;
 248         packet->yawspeed = yawspeed;
 249
 250 #if MAVLINK_CRC_EXTRA
 251     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 252 #else
 253     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
 254 #endif
 255 #endif
 256 }
 257 #endif
 258
 259 #endif
 260
 261 // MESSAGE ATTITUDE UNPACKING
 262
 263
 264 /**
 265  * @brief Get field time_boot_ms from attitude message
 266  *
 267  * @return Timestamp (milliseconds since system boot)
 268  */
 269 static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
 270 {
 271         return _MAV_RETURN_uint32_t(msg,  0);
 272 }
 273
 274 /**
 275  * @brief Get field roll from attitude message
 276  *
 277  * @return Roll angle (rad, -pi..+pi)
 278  */
 279 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
 280 {
 281         return _MAV_RETURN_float(msg,  4);
 282 }
 283
 284 /**
 285  * @brief Get field pitch from attitude message
 286  *
 287  * @return Pitch angle (rad, -pi..+pi)
 288  */
 289 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
 290 {
 291         return _MAV_RETURN_float(msg,  8);
 292 }
 293
 294 /**
 295  * @brief Get field yaw from attitude message
 296  *
 297  * @return Yaw angle (rad, -pi..+pi)
 298  */
 299 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
 300 {
 301         return _MAV_RETURN_float(msg,  12);
 302 }
 303
 304 /**
 305  * @brief Get field rollspeed from attitude message
 306  *
 307  * @return Roll angular speed (rad/s)
 308  */
 309 static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
 310 {
 311         return _MAV_RETURN_float(msg,  16);
 312 }
 313
 314 /**
 315  * @brief Get field pitchspeed from attitude message
 316  *
 317  * @return Pitch angular speed (rad/s)
 318  */
 319 static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
 320 {
 321         return _MAV_RETURN_float(msg,  20);
 322 }
 323
 324 /**
 325  * @brief Get field yawspeed from attitude message
 326  *
 327  * @return Yaw angular speed (rad/s)
 328  */
 329 static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
 330 {
 331         return _MAV_RETURN_float(msg,  24);
 332 }
 333
 334 /**
 335  * @brief Decode a attitude message into a struct
 336  *
 337  * @param msg The message to decode
 338  * @param attitude C-struct to decode the message contents into
 339  */
 340 static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
 341 {
 342 #if MAVLINK_NEED_BYTE_SWAP
 343         attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
 344         attitude->roll = mavlink_msg_attitude_get_roll(msg);
 345         attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
 346         attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
 347         attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
 348         attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
 349         attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
 350 #else
 351         memcpy(attitude, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_LEN);
 352 #endif
 353 }