lib/main/MAVLink/common/mavlink_msg_attitude_quaternion_cov.h

   1 // MESSAGE ATTITUDE_QUATERNION_COV PACKING
   2
   3 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV 61
   4
   5 typedef struct __mavlink_attitude_quaternion_cov_t
   6 {
   7  uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   8  float q[4]; ///< Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
   9  float rollspeed; ///< Roll angular speed (rad/s)
  10  float pitchspeed; ///< Pitch angular speed (rad/s)
  11  float yawspeed; ///< Yaw angular speed (rad/s)
  12  float covariance[9]; ///< Attitude covariance
  13 } mavlink_attitude_quaternion_cov_t;
  14
  15 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN 68
  16 #define MAVLINK_MSG_ID_61_LEN 68
  17
  18 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC 153
  19 #define MAVLINK_MSG_ID_61_CRC 153
  20
  21 #define MAVLINK_MSG_ATTITUDE_QUATERNION_COV_FIELD_Q_LEN 4
  22 #define MAVLINK_MSG_ATTITUDE_QUATERNION_COV_FIELD_COVARIANCE_LEN 9
  23
  24 #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION_COV { \
  25         "ATTITUDE_QUATERNION_COV", \
  26         6, \
  27         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_cov_t, time_boot_ms) }, \
  28          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_quaternion_cov_t, q) }, \
  29          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_cov_t, rollspeed) }, \
  30          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_cov_t, pitchspeed) }, \
  31          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_cov_t, yawspeed) }, \
  32          { "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 32, offsetof(mavlink_attitude_quaternion_cov_t, covariance) }, \
  33          } \
  34 }
  35
  36
  37 /**
  38  * @brief Pack a attitude_quaternion_cov message
  39  * @param system_id ID of this system
  40  * @param component_id ID of this component (e.g. 200 for IMU)
  41  * @param msg The MAVLink message to compress the data into
  42  *
  43  * @param time_boot_ms Timestamp (milliseconds since system boot)
  44  * @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
  45  * @param rollspeed Roll angular speed (rad/s)
  46  * @param pitchspeed Pitch angular speed (rad/s)
  47  * @param yawspeed Yaw angular speed (rad/s)
  48  * @param covariance Attitude covariance
  49  * @return length of the message in bytes (excluding serial stream start sign)
  50  */
  51 static inline uint16_t mavlink_msg_attitude_quaternion_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  52                                                        uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
  53 {
  54 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  55         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN];
  56         _mav_put_uint32_t(buf, 0, time_boot_ms);
  57         _mav_put_float(buf, 20, rollspeed);
  58         _mav_put_float(buf, 24, pitchspeed);
  59         _mav_put_float(buf, 28, yawspeed);
  60         _mav_put_float_array(buf, 4, q, 4);
  61         _mav_put_float_array(buf, 32, covariance, 9);
  62         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
  63 #else
  64         mavlink_attitude_quaternion_cov_t packet;
  65         packet.time_boot_ms = time_boot_ms;
  66         packet.rollspeed = rollspeed;
  67         packet.pitchspeed = pitchspeed;
  68         packet.yawspeed = yawspeed;
  69         mav_array_memcpy(packet.q, q, sizeof(float)*4);
  70         mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
  71         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
  72 #endif
  73
  74         msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV;
  75 #if MAVLINK_CRC_EXTRA
  76     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
  77 #else
  78     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
  79 #endif
  80 }
  81
  82 /**
  83  * @brief Pack a attitude_quaternion_cov message on a channel
  84  * @param system_id ID of this system
  85  * @param component_id ID of this component (e.g. 200 for IMU)
  86  * @param chan The MAVLink channel this message will be sent over
  87  * @param msg The MAVLink message to compress the data into
  88  * @param time_boot_ms Timestamp (milliseconds since system boot)
  89  * @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
  90  * @param rollspeed Roll angular speed (rad/s)
  91  * @param pitchspeed Pitch angular speed (rad/s)
  92  * @param yawspeed Yaw angular speed (rad/s)
  93  * @param covariance Attitude covariance
  94  * @return length of the message in bytes (excluding serial stream start sign)
  95  */
  96 static inline uint16_t mavlink_msg_attitude_quaternion_cov_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  97                                                            mavlink_message_t* msg,
  98                                                            uint32_t time_boot_ms,const float *q,float rollspeed,float pitchspeed,float yawspeed,const float *covariance)
  99 {
 100 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 101         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN];
 102         _mav_put_uint32_t(buf, 0, time_boot_ms);
 103         _mav_put_float(buf, 20, rollspeed);
 104         _mav_put_float(buf, 24, pitchspeed);
 105         _mav_put_float(buf, 28, yawspeed);
 106         _mav_put_float_array(buf, 4, q, 4);
 107         _mav_put_float_array(buf, 32, covariance, 9);
 108         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
 109 #else
 110         mavlink_attitude_quaternion_cov_t packet;
 111         packet.time_boot_ms = time_boot_ms;
 112         packet.rollspeed = rollspeed;
 113         packet.pitchspeed = pitchspeed;
 114         packet.yawspeed = yawspeed;
 115         mav_array_memcpy(packet.q, q, sizeof(float)*4);
 116         mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
 117         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
 118 #endif
 119
 120         msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV;
 121 #if MAVLINK_CRC_EXTRA
 122     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
 123 #else
 124     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
 125 #endif
 126 }
 127
 128 /**
 129  * @brief Encode a attitude_quaternion_cov struct
 130  *
 131  * @param system_id ID of this system
 132  * @param component_id ID of this component (e.g. 200 for IMU)
 133  * @param msg The MAVLink message to compress the data into
 134  * @param attitude_quaternion_cov C-struct to read the message contents from
 135  */
 136 static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
 137 {
 138         return mavlink_msg_attitude_quaternion_cov_pack(system_id, component_id, msg, attitude_quaternion_cov->time_boot_ms, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
 139 }
 140
 141 /**
 142  * @brief Encode a attitude_quaternion_cov struct on a channel
 143  *
 144  * @param system_id ID of this system
 145  * @param component_id ID of this component (e.g. 200 for IMU)
 146  * @param chan The MAVLink channel this message will be sent over
 147  * @param msg The MAVLink message to compress the data into
 148  * @param attitude_quaternion_cov C-struct to read the message contents from
 149  */
 150 static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
 151 {
 152         return mavlink_msg_attitude_quaternion_cov_pack_chan(system_id, component_id, chan, msg, attitude_quaternion_cov->time_boot_ms, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
 153 }
 154
 155 /**
 156  * @brief Send a attitude_quaternion_cov message
 157  * @param chan MAVLink channel to send the message
 158  *
 159  * @param time_boot_ms Timestamp (milliseconds since system boot)
 160  * @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
 161  * @param rollspeed Roll angular speed (rad/s)
 162  * @param pitchspeed Pitch angular speed (rad/s)
 163  * @param yawspeed Yaw angular speed (rad/s)
 164  * @param covariance Attitude covariance
 165  */
 166 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 167
 168 static inline void mavlink_msg_attitude_quaternion_cov_send(mavlink_channel_t chan, uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
 169 {
 170 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 171         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN];
 172         _mav_put_uint32_t(buf, 0, time_boot_ms);
 173         _mav_put_float(buf, 20, rollspeed);
 174         _mav_put_float(buf, 24, pitchspeed);
 175         _mav_put_float(buf, 28, yawspeed);
 176         _mav_put_float_array(buf, 4, q, 4);
 177         _mav_put_float_array(buf, 32, covariance, 9);
 178 #if MAVLINK_CRC_EXTRA
 179     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
 180 #else
 181     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
 182 #endif
 183 #else
 184         mavlink_attitude_quaternion_cov_t packet;
 185         packet.time_boot_ms = time_boot_ms;
 186         packet.rollspeed = rollspeed;
 187         packet.pitchspeed = pitchspeed;
 188         packet.yawspeed = yawspeed;
 189         mav_array_memcpy(packet.q, q, sizeof(float)*4);
 190         mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
 191 #if MAVLINK_CRC_EXTRA
 192     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
 193 #else
 194     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
 195 #endif
 196 #endif
 197 }
 198
 199 #if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 200 /*
 201   This varient of _send() can be used to save stack space by re-using
 202   memory from the receive buffer.  The caller provides a
 203   mavlink_message_t which is the size of a full mavlink message. This
 204   is usually the receive buffer for the channel, and allows a reply to an
 205   incoming message with minimum stack space usage.
 206  */
 207 static inline void mavlink_msg_attitude_quaternion_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
 208 {
 209 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 210         char *buf = (char *)msgbuf;
 211         _mav_put_uint32_t(buf, 0, time_boot_ms);
 212         _mav_put_float(buf, 20, rollspeed);
 213         _mav_put_float(buf, 24, pitchspeed);
 214         _mav_put_float(buf, 28, yawspeed);
 215         _mav_put_float_array(buf, 4, q, 4);
 216         _mav_put_float_array(buf, 32, covariance, 9);
 217 #if MAVLINK_CRC_EXTRA
 218     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
 219 #else
 220     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
 221 #endif
 222 #else
 223         mavlink_attitude_quaternion_cov_t *packet = (mavlink_attitude_quaternion_cov_t *)msgbuf;
 224         packet->time_boot_ms = time_boot_ms;
 225         packet->rollspeed = rollspeed;
 226         packet->pitchspeed = pitchspeed;
 227         packet->yawspeed = yawspeed;
 228         mav_array_memcpy(packet->q, q, sizeof(float)*4);
 229         mav_array_memcpy(packet->covariance, covariance, sizeof(float)*9);
 230 #if MAVLINK_CRC_EXTRA
 231     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
 232 #else
 233     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
 234 #endif
 235 #endif
 236 }
 237 #endif
 238
 239 #endif
 240
 241 // MESSAGE ATTITUDE_QUATERNION_COV UNPACKING
 242
 243
 244 /**
 245  * @brief Get field time_boot_ms from attitude_quaternion_cov message
 246  *
 247  * @return Timestamp (milliseconds since system boot)
 248  */
 249 static inline uint32_t mavlink_msg_attitude_quaternion_cov_get_time_boot_ms(const mavlink_message_t* msg)
 250 {
 251         return _MAV_RETURN_uint32_t(msg,  0);
 252 }
 253
 254 /**
 255  * @brief Get field q from attitude_quaternion_cov message
 256  *
 257  * @return Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
 258  */
 259 static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_q(const mavlink_message_t* msg, float *q)
 260 {
 261         return _MAV_RETURN_float_array(msg, q, 4,  4);
 262 }
 263
 264 /**
 265  * @brief Get field rollspeed from attitude_quaternion_cov message
 266  *
 267  * @return Roll angular speed (rad/s)
 268  */
 269 static inline float mavlink_msg_attitude_quaternion_cov_get_rollspeed(const mavlink_message_t* msg)
 270 {
 271         return _MAV_RETURN_float(msg,  20);
 272 }
 273
 274 /**
 275  * @brief Get field pitchspeed from attitude_quaternion_cov message
 276  *
 277  * @return Pitch angular speed (rad/s)
 278  */
 279 static inline float mavlink_msg_attitude_quaternion_cov_get_pitchspeed(const mavlink_message_t* msg)
 280 {
 281         return _MAV_RETURN_float(msg,  24);
 282 }
 283
 284 /**
 285  * @brief Get field yawspeed from attitude_quaternion_cov message
 286  *
 287  * @return Yaw angular speed (rad/s)
 288  */
 289 static inline float mavlink_msg_attitude_quaternion_cov_get_yawspeed(const mavlink_message_t* msg)
 290 {
 291         return _MAV_RETURN_float(msg,  28);
 292 }
 293
 294 /**
 295  * @brief Get field covariance from attitude_quaternion_cov message
 296  *
 297  * @return Attitude covariance
 298  */
 299 static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
 300 {
 301         return _MAV_RETURN_float_array(msg, covariance, 9,  32);
 302 }
 303
 304 /**
 305  * @brief Decode a attitude_quaternion_cov message into a struct
 306  *
 307  * @param msg The message to decode
 308  * @param attitude_quaternion_cov C-struct to decode the message contents into
 309  */
 310 static inline void mavlink_msg_attitude_quaternion_cov_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
 311 {
 312 #if MAVLINK_NEED_BYTE_SWAP
 313         attitude_quaternion_cov->time_boot_ms = mavlink_msg_attitude_quaternion_cov_get_time_boot_ms(msg);
 314         mavlink_msg_attitude_quaternion_cov_get_q(msg, attitude_quaternion_cov->q);
 315         attitude_quaternion_cov->rollspeed = mavlink_msg_attitude_quaternion_cov_get_rollspeed(msg);
 316         attitude_quaternion_cov->pitchspeed = mavlink_msg_attitude_quaternion_cov_get_pitchspeed(msg);
 317         attitude_quaternion_cov->yawspeed = mavlink_msg_attitude_quaternion_cov_get_yawspeed(msg);
 318         mavlink_msg_attitude_quaternion_cov_get_covariance(msg, attitude_quaternion_cov->covariance);
 319 #else
 320         memcpy(attitude_quaternion_cov, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
 321 #endif
 322 }