lib/main/MAVLink/common/mavlink_msg_attitude_quaternion.h

   1 // MESSAGE ATTITUDE_QUATERNION PACKING
   2
   3 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31
   4
   5 typedef struct __mavlink_attitude_quaternion_t
   6 {
   7  uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   8  float q1; ///< Quaternion component 1, w (1 in null-rotation)
   9  float q2; ///< Quaternion component 2, x (0 in null-rotation)
  10  float q3; ///< Quaternion component 3, y (0 in null-rotation)
  11  float q4; ///< Quaternion component 4, z (0 in null-rotation)
  12  float rollspeed; ///< Roll angular speed (rad/s)
  13  float pitchspeed; ///< Pitch angular speed (rad/s)
  14  float yawspeed; ///< Yaw angular speed (rad/s)
  15 } mavlink_attitude_quaternion_t;
  16
  17 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
  18 #define MAVLINK_MSG_ID_31_LEN 32
  19
  20 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC 246
  21 #define MAVLINK_MSG_ID_31_CRC 246
  22
  23
  24
  25 #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
  26         "ATTITUDE_QUATERNION", \
  27         8, \
  28         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
  29          { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
  30          { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
  31          { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
  32          { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
  33          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
  34          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
  35          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
  36          } \
  37 }
  38
  39
  40 /**
  41  * @brief Pack a attitude_quaternion message
  42  * @param system_id ID of this system
  43  * @param component_id ID of this component (e.g. 200 for IMU)
  44  * @param msg The MAVLink message to compress the data into
  45  *
  46  * @param time_boot_ms Timestamp (milliseconds since system boot)
  47  * @param q1 Quaternion component 1, w (1 in null-rotation)
  48  * @param q2 Quaternion component 2, x (0 in null-rotation)
  49  * @param q3 Quaternion component 3, y (0 in null-rotation)
  50  * @param q4 Quaternion component 4, z (0 in null-rotation)
  51  * @param rollspeed Roll angular speed (rad/s)
  52  * @param pitchspeed Pitch angular speed (rad/s)
  53  * @param yawspeed Yaw angular speed (rad/s)
  54  * @return length of the message in bytes (excluding serial stream start sign)
  55  */
  56 static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  57                                                        uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
  58 {
  59 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  60         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
  61         _mav_put_uint32_t(buf, 0, time_boot_ms);
  62         _mav_put_float(buf, 4, q1);
  63         _mav_put_float(buf, 8, q2);
  64         _mav_put_float(buf, 12, q3);
  65         _mav_put_float(buf, 16, q4);
  66         _mav_put_float(buf, 20, rollspeed);
  67         _mav_put_float(buf, 24, pitchspeed);
  68         _mav_put_float(buf, 28, yawspeed);
  69
  70         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
  71 #else
  72         mavlink_attitude_quaternion_t packet;
  73         packet.time_boot_ms = time_boot_ms;
  74         packet.q1 = q1;
  75         packet.q2 = q2;
  76         packet.q3 = q3;
  77         packet.q4 = q4;
  78         packet.rollspeed = rollspeed;
  79         packet.pitchspeed = pitchspeed;
  80         packet.yawspeed = yawspeed;
  81
  82         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
  83 #endif
  84
  85         msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
  86 #if MAVLINK_CRC_EXTRA
  87     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
  88 #else
  89     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
  90 #endif
  91 }
  92
  93 /**
  94  * @brief Pack a attitude_quaternion message on a channel
  95  * @param system_id ID of this system
  96  * @param component_id ID of this component (e.g. 200 for IMU)
  97  * @param chan The MAVLink channel this message will be sent over
  98  * @param msg The MAVLink message to compress the data into
  99  * @param time_boot_ms Timestamp (milliseconds since system boot)
 100  * @param q1 Quaternion component 1, w (1 in null-rotation)
 101  * @param q2 Quaternion component 2, x (0 in null-rotation)
 102  * @param q3 Quaternion component 3, y (0 in null-rotation)
 103  * @param q4 Quaternion component 4, z (0 in null-rotation)
 104  * @param rollspeed Roll angular speed (rad/s)
 105  * @param pitchspeed Pitch angular speed (rad/s)
 106  * @param yawspeed Yaw angular speed (rad/s)
 107  * @return length of the message in bytes (excluding serial stream start sign)
 108  */
 109 static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 110                                                            mavlink_message_t* msg,
 111                                                            uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed)
 112 {
 113 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 114         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
 115         _mav_put_uint32_t(buf, 0, time_boot_ms);
 116         _mav_put_float(buf, 4, q1);
 117         _mav_put_float(buf, 8, q2);
 118         _mav_put_float(buf, 12, q3);
 119         _mav_put_float(buf, 16, q4);
 120         _mav_put_float(buf, 20, rollspeed);
 121         _mav_put_float(buf, 24, pitchspeed);
 122         _mav_put_float(buf, 28, yawspeed);
 123
 124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 125 #else
 126         mavlink_attitude_quaternion_t packet;
 127         packet.time_boot_ms = time_boot_ms;
 128         packet.q1 = q1;
 129         packet.q2 = q2;
 130         packet.q3 = q3;
 131         packet.q4 = q4;
 132         packet.rollspeed = rollspeed;
 133         packet.pitchspeed = pitchspeed;
 134         packet.yawspeed = yawspeed;
 135
 136         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 137 #endif
 138
 139         msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
 140 #if MAVLINK_CRC_EXTRA
 141     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 142 #else
 143     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 144 #endif
 145 }
 146
 147 /**
 148  * @brief Encode a attitude_quaternion struct
 149  *
 150  * @param system_id ID of this system
 151  * @param component_id ID of this component (e.g. 200 for IMU)
 152  * @param msg The MAVLink message to compress the data into
 153  * @param attitude_quaternion C-struct to read the message contents from
 154  */
 155 static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
 156 {
 157         return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
 158 }
 159
 160 /**
 161  * @brief Encode a attitude_quaternion struct on a channel
 162  *
 163  * @param system_id ID of this system
 164  * @param component_id ID of this component (e.g. 200 for IMU)
 165  * @param chan The MAVLink channel this message will be sent over
 166  * @param msg The MAVLink message to compress the data into
 167  * @param attitude_quaternion C-struct to read the message contents from
 168  */
 169 static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
 170 {
 171         return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
 172 }
 173
 174 /**
 175  * @brief Send a attitude_quaternion message
 176  * @param chan MAVLink channel to send the message
 177  *
 178  * @param time_boot_ms Timestamp (milliseconds since system boot)
 179  * @param q1 Quaternion component 1, w (1 in null-rotation)
 180  * @param q2 Quaternion component 2, x (0 in null-rotation)
 181  * @param q3 Quaternion component 3, y (0 in null-rotation)
 182  * @param q4 Quaternion component 4, z (0 in null-rotation)
 183  * @param rollspeed Roll angular speed (rad/s)
 184  * @param pitchspeed Pitch angular speed (rad/s)
 185  * @param yawspeed Yaw angular speed (rad/s)
 186  */
 187 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 188
 189 static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
 190 {
 191 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 192         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
 193         _mav_put_uint32_t(buf, 0, time_boot_ms);
 194         _mav_put_float(buf, 4, q1);
 195         _mav_put_float(buf, 8, q2);
 196         _mav_put_float(buf, 12, q3);
 197         _mav_put_float(buf, 16, q4);
 198         _mav_put_float(buf, 20, rollspeed);
 199         _mav_put_float(buf, 24, pitchspeed);
 200         _mav_put_float(buf, 28, yawspeed);
 201
 202 #if MAVLINK_CRC_EXTRA
 203     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 204 #else
 205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 206 #endif
 207 #else
 208         mavlink_attitude_quaternion_t packet;
 209         packet.time_boot_ms = time_boot_ms;
 210         packet.q1 = q1;
 211         packet.q2 = q2;
 212         packet.q3 = q3;
 213         packet.q4 = q4;
 214         packet.rollspeed = rollspeed;
 215         packet.pitchspeed = pitchspeed;
 216         packet.yawspeed = yawspeed;
 217
 218 #if MAVLINK_CRC_EXTRA
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 220 #else
 221     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 222 #endif
 223 #endif
 224 }
 225
 226 #if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 227 /*
 228   This varient of _send() can be used to save stack space by re-using
 229   memory from the receive buffer.  The caller provides a
 230   mavlink_message_t which is the size of a full mavlink message. This
 231   is usually the receive buffer for the channel, and allows a reply to an
 232   incoming message with minimum stack space usage.
 233  */
 234 static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
 235 {
 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 237         char *buf = (char *)msgbuf;
 238         _mav_put_uint32_t(buf, 0, time_boot_ms);
 239         _mav_put_float(buf, 4, q1);
 240         _mav_put_float(buf, 8, q2);
 241         _mav_put_float(buf, 12, q3);
 242         _mav_put_float(buf, 16, q4);
 243         _mav_put_float(buf, 20, rollspeed);
 244         _mav_put_float(buf, 24, pitchspeed);
 245         _mav_put_float(buf, 28, yawspeed);
 246
 247 #if MAVLINK_CRC_EXTRA
 248     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 249 #else
 250     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 251 #endif
 252 #else
 253         mavlink_attitude_quaternion_t *packet = (mavlink_attitude_quaternion_t *)msgbuf;
 254         packet->time_boot_ms = time_boot_ms;
 255         packet->q1 = q1;
 256         packet->q2 = q2;
 257         packet->q3 = q3;
 258         packet->q4 = q4;
 259         packet->rollspeed = rollspeed;
 260         packet->pitchspeed = pitchspeed;
 261         packet->yawspeed = yawspeed;
 262
 263 #if MAVLINK_CRC_EXTRA
 264     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 265 #else
 266     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 267 #endif
 268 #endif
 269 }
 270 #endif
 271
 272 #endif
 273
 274 // MESSAGE ATTITUDE_QUATERNION UNPACKING
 275
 276
 277 /**
 278  * @brief Get field time_boot_ms from attitude_quaternion message
 279  *
 280  * @return Timestamp (milliseconds since system boot)
 281  */
 282 static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg)
 283 {
 284         return _MAV_RETURN_uint32_t(msg,  0);
 285 }
 286
 287 /**
 288  * @brief Get field q1 from attitude_quaternion message
 289  *
 290  * @return Quaternion component 1, w (1 in null-rotation)
 291  */
 292 static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg)
 293 {
 294         return _MAV_RETURN_float(msg,  4);
 295 }
 296
 297 /**
 298  * @brief Get field q2 from attitude_quaternion message
 299  *
 300  * @return Quaternion component 2, x (0 in null-rotation)
 301  */
 302 static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg)
 303 {
 304         return _MAV_RETURN_float(msg,  8);
 305 }
 306
 307 /**
 308  * @brief Get field q3 from attitude_quaternion message
 309  *
 310  * @return Quaternion component 3, y (0 in null-rotation)
 311  */
 312 static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg)
 313 {
 314         return _MAV_RETURN_float(msg,  12);
 315 }
 316
 317 /**
 318  * @brief Get field q4 from attitude_quaternion message
 319  *
 320  * @return Quaternion component 4, z (0 in null-rotation)
 321  */
 322 static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg)
 323 {
 324         return _MAV_RETURN_float(msg,  16);
 325 }
 326
 327 /**
 328  * @brief Get field rollspeed from attitude_quaternion message
 329  *
 330  * @return Roll angular speed (rad/s)
 331  */
 332 static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg)
 333 {
 334         return _MAV_RETURN_float(msg,  20);
 335 }
 336
 337 /**
 338  * @brief Get field pitchspeed from attitude_quaternion message
 339  *
 340  * @return Pitch angular speed (rad/s)
 341  */
 342 static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg)
 343 {
 344         return _MAV_RETURN_float(msg,  24);
 345 }
 346
 347 /**
 348  * @brief Get field yawspeed from attitude_quaternion message
 349  *
 350  * @return Yaw angular speed (rad/s)
 351  */
 352 static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg)
 353 {
 354         return _MAV_RETURN_float(msg,  28);
 355 }
 356
 357 /**
 358  * @brief Decode a attitude_quaternion message into a struct
 359  *
 360  * @param msg The message to decode
 361  * @param attitude_quaternion C-struct to decode the message contents into
 362  */
 363 static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion)
 364 {
 365 #if MAVLINK_NEED_BYTE_SWAP
 366         attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
 367         attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
 368         attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
 369         attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
 370         attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
 371         attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
 372         attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
 373         attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
 374 #else
 375         memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 376 #endif
 377 }