lib/main/MAVLink/common/mavlink_msg_raw_imu.h

   1 // MESSAGE RAW_IMU PACKING
   2
   3 #define MAVLINK_MSG_ID_RAW_IMU 27
   4
   5 typedef struct __mavlink_raw_imu_t
   6 {
   7  uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
   8  int16_t xacc; ///< X acceleration (raw)
   9  int16_t yacc; ///< Y acceleration (raw)
  10  int16_t zacc; ///< Z acceleration (raw)
  11  int16_t xgyro; ///< Angular speed around X axis (raw)
  12  int16_t ygyro; ///< Angular speed around Y axis (raw)
  13  int16_t zgyro; ///< Angular speed around Z axis (raw)
  14  int16_t xmag; ///< X Magnetic field (raw)
  15  int16_t ymag; ///< Y Magnetic field (raw)
  16  int16_t zmag; ///< Z Magnetic field (raw)
  17 } mavlink_raw_imu_t;
  18
  19 #define MAVLINK_MSG_ID_RAW_IMU_LEN 26
  20 #define MAVLINK_MSG_ID_27_LEN 26
  21
  22 #define MAVLINK_MSG_ID_RAW_IMU_CRC 144
  23 #define MAVLINK_MSG_ID_27_CRC 144
  24
  25
  26
  27 #define MAVLINK_MESSAGE_INFO_RAW_IMU { \
  28         "RAW_IMU", \
  29         10, \
  30         {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
  31          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
  32          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
  33          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
  34          { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
  35          { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
  36          { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
  37          { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
  38          { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
  39          { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
  40          } \
  41 }
  42
  43
  44 /**
  45  * @brief Pack a raw_imu message
  46  * @param system_id ID of this system
  47  * @param component_id ID of this component (e.g. 200 for IMU)
  48  * @param msg The MAVLink message to compress the data into
  49  *
  50  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  51  * @param xacc X acceleration (raw)
  52  * @param yacc Y acceleration (raw)
  53  * @param zacc Z acceleration (raw)
  54  * @param xgyro Angular speed around X axis (raw)
  55  * @param ygyro Angular speed around Y axis (raw)
  56  * @param zgyro Angular speed around Z axis (raw)
  57  * @param xmag X Magnetic field (raw)
  58  * @param ymag Y Magnetic field (raw)
  59  * @param zmag Z Magnetic field (raw)
  60  * @return length of the message in bytes (excluding serial stream start sign)
  61  */
  62 static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  63                                                        uint64_t time_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)
  64 {
  65 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  66         char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
  67         _mav_put_uint64_t(buf, 0, time_usec);
  68         _mav_put_int16_t(buf, 8, xacc);
  69         _mav_put_int16_t(buf, 10, yacc);
  70         _mav_put_int16_t(buf, 12, zacc);
  71         _mav_put_int16_t(buf, 14, xgyro);
  72         _mav_put_int16_t(buf, 16, ygyro);
  73         _mav_put_int16_t(buf, 18, zgyro);
  74         _mav_put_int16_t(buf, 20, xmag);
  75         _mav_put_int16_t(buf, 22, ymag);
  76         _mav_put_int16_t(buf, 24, zmag);
  77
  78         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
  79 #else
  80         mavlink_raw_imu_t packet;
  81         packet.time_usec = time_usec;
  82         packet.xacc = xacc;
  83         packet.yacc = yacc;
  84         packet.zacc = zacc;
  85         packet.xgyro = xgyro;
  86         packet.ygyro = ygyro;
  87         packet.zgyro = zgyro;
  88         packet.xmag = xmag;
  89         packet.ymag = ymag;
  90         packet.zmag = zmag;
  91
  92         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
  93 #endif
  94
  95         msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
  96 #if MAVLINK_CRC_EXTRA
  97     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
  98 #else
  99     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_IMU_LEN);
 100 #endif
 101 }
 102
 103 /**
 104  * @brief Pack a raw_imu message on a channel
 105  * @param system_id ID of this system
 106  * @param component_id ID of this component (e.g. 200 for IMU)
 107  * @param chan The MAVLink channel this message will be sent over
 108  * @param msg The MAVLink message to compress the data into
 109  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 110  * @param xacc X acceleration (raw)
 111  * @param yacc Y acceleration (raw)
 112  * @param zacc Z acceleration (raw)
 113  * @param xgyro Angular speed around X axis (raw)
 114  * @param ygyro Angular speed around Y axis (raw)
 115  * @param zgyro Angular speed around Z axis (raw)
 116  * @param xmag X Magnetic field (raw)
 117  * @param ymag Y Magnetic field (raw)
 118  * @param zmag Z Magnetic field (raw)
 119  * @return length of the message in bytes (excluding serial stream start sign)
 120  */
 121 static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 122                                                            mavlink_message_t* msg,
 123                                                            uint64_t time_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)
 124 {
 125 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 126         char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
 127         _mav_put_uint64_t(buf, 0, time_usec);
 128         _mav_put_int16_t(buf, 8, xacc);
 129         _mav_put_int16_t(buf, 10, yacc);
 130         _mav_put_int16_t(buf, 12, zacc);
 131         _mav_put_int16_t(buf, 14, xgyro);
 132         _mav_put_int16_t(buf, 16, ygyro);
 133         _mav_put_int16_t(buf, 18, zgyro);
 134         _mav_put_int16_t(buf, 20, xmag);
 135         _mav_put_int16_t(buf, 22, ymag);
 136         _mav_put_int16_t(buf, 24, zmag);
 137
 138         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
 139 #else
 140         mavlink_raw_imu_t packet;
 141         packet.time_usec = time_usec;
 142         packet.xacc = xacc;
 143         packet.yacc = yacc;
 144         packet.zacc = zacc;
 145         packet.xgyro = xgyro;
 146         packet.ygyro = ygyro;
 147         packet.zgyro = zgyro;
 148         packet.xmag = xmag;
 149         packet.ymag = ymag;
 150         packet.zmag = zmag;
 151
 152         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
 153 #endif
 154
 155         msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
 156 #if MAVLINK_CRC_EXTRA
 157     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 158 #else
 159     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_IMU_LEN);
 160 #endif
 161 }
 162
 163 /**
 164  * @brief Encode a raw_imu struct
 165  *
 166  * @param system_id ID of this system
 167  * @param component_id ID of this component (e.g. 200 for IMU)
 168  * @param msg The MAVLink message to compress the data into
 169  * @param raw_imu C-struct to read the message contents from
 170  */
 171 static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
 172 {
 173         return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
 174 }
 175
 176 /**
 177  * @brief Encode a raw_imu struct on a channel
 178  *
 179  * @param system_id ID of this system
 180  * @param component_id ID of this component (e.g. 200 for IMU)
 181  * @param chan The MAVLink channel this message will be sent over
 182  * @param msg The MAVLink message to compress the data into
 183  * @param raw_imu C-struct to read the message contents from
 184  */
 185 static inline uint16_t mavlink_msg_raw_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
 186 {
 187         return mavlink_msg_raw_imu_pack_chan(system_id, component_id, chan, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
 188 }
 189
 190 /**
 191  * @brief Send a raw_imu message
 192  * @param chan MAVLink channel to send the message
 193  *
 194  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 195  * @param xacc X acceleration (raw)
 196  * @param yacc Y acceleration (raw)
 197  * @param zacc Z acceleration (raw)
 198  * @param xgyro Angular speed around X axis (raw)
 199  * @param ygyro Angular speed around Y axis (raw)
 200  * @param zgyro Angular speed around Z axis (raw)
 201  * @param xmag X Magnetic field (raw)
 202  * @param ymag Y Magnetic field (raw)
 203  * @param zmag Z Magnetic field (raw)
 204  */
 205 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 206
 207 static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t time_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)
 208 {
 209 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 210         char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
 211         _mav_put_uint64_t(buf, 0, time_usec);
 212         _mav_put_int16_t(buf, 8, xacc);
 213         _mav_put_int16_t(buf, 10, yacc);
 214         _mav_put_int16_t(buf, 12, zacc);
 215         _mav_put_int16_t(buf, 14, xgyro);
 216         _mav_put_int16_t(buf, 16, ygyro);
 217         _mav_put_int16_t(buf, 18, zgyro);
 218         _mav_put_int16_t(buf, 20, xmag);
 219         _mav_put_int16_t(buf, 22, ymag);
 220         _mav_put_int16_t(buf, 24, zmag);
 221
 222 #if MAVLINK_CRC_EXTRA
 223     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 224 #else
 225     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
 226 #endif
 227 #else
 228         mavlink_raw_imu_t packet;
 229         packet.time_usec = time_usec;
 230         packet.xacc = xacc;
 231         packet.yacc = yacc;
 232         packet.zacc = zacc;
 233         packet.xgyro = xgyro;
 234         packet.ygyro = ygyro;
 235         packet.zgyro = zgyro;
 236         packet.xmag = xmag;
 237         packet.ymag = ymag;
 238         packet.zmag = zmag;
 239
 240 #if MAVLINK_CRC_EXTRA
 241     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 242 #else
 243     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
 244 #endif
 245 #endif
 246 }
 247
 248 #if MAVLINK_MSG_ID_RAW_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 249 /*
 250   This varient of _send() can be used to save stack space by re-using
 251   memory from the receive buffer.  The caller provides a
 252   mavlink_message_t which is the size of a full mavlink message. This
 253   is usually the receive buffer for the channel, and allows a reply to an
 254   incoming message with minimum stack space usage.
 255  */
 256 static inline void mavlink_msg_raw_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_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)
 257 {
 258 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 259         char *buf = (char *)msgbuf;
 260         _mav_put_uint64_t(buf, 0, time_usec);
 261         _mav_put_int16_t(buf, 8, xacc);
 262         _mav_put_int16_t(buf, 10, yacc);
 263         _mav_put_int16_t(buf, 12, zacc);
 264         _mav_put_int16_t(buf, 14, xgyro);
 265         _mav_put_int16_t(buf, 16, ygyro);
 266         _mav_put_int16_t(buf, 18, zgyro);
 267         _mav_put_int16_t(buf, 20, xmag);
 268         _mav_put_int16_t(buf, 22, ymag);
 269         _mav_put_int16_t(buf, 24, zmag);
 270
 271 #if MAVLINK_CRC_EXTRA
 272     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 273 #else
 274     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
 275 #endif
 276 #else
 277         mavlink_raw_imu_t *packet = (mavlink_raw_imu_t *)msgbuf;
 278         packet->time_usec = time_usec;
 279         packet->xacc = xacc;
 280         packet->yacc = yacc;
 281         packet->zacc = zacc;
 282         packet->xgyro = xgyro;
 283         packet->ygyro = ygyro;
 284         packet->zgyro = zgyro;
 285         packet->xmag = xmag;
 286         packet->ymag = ymag;
 287         packet->zmag = zmag;
 288
 289 #if MAVLINK_CRC_EXTRA
 290     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)packet, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 291 #else
 292     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
 293 #endif
 294 #endif
 295 }
 296 #endif
 297
 298 #endif
 299
 300 // MESSAGE RAW_IMU UNPACKING
 301
 302
 303 /**
 304  * @brief Get field time_usec from raw_imu message
 305  *
 306  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 307  */
 308 static inline uint64_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t* msg)
 309 {
 310         return _MAV_RETURN_uint64_t(msg,  0);
 311 }
 312
 313 /**
 314  * @brief Get field xacc from raw_imu message
 315  *
 316  * @return X acceleration (raw)
 317  */
 318 static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
 319 {
 320         return _MAV_RETURN_int16_t(msg,  8);
 321 }
 322
 323 /**
 324  * @brief Get field yacc from raw_imu message
 325  *
 326  * @return Y acceleration (raw)
 327  */
 328 static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
 329 {
 330         return _MAV_RETURN_int16_t(msg,  10);
 331 }
 332
 333 /**
 334  * @brief Get field zacc from raw_imu message
 335  *
 336  * @return Z acceleration (raw)
 337  */
 338 static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
 339 {
 340         return _MAV_RETURN_int16_t(msg,  12);
 341 }
 342
 343 /**
 344  * @brief Get field xgyro from raw_imu message
 345  *
 346  * @return Angular speed around X axis (raw)
 347  */
 348 static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
 349 {
 350         return _MAV_RETURN_int16_t(msg,  14);
 351 }
 352
 353 /**
 354  * @brief Get field ygyro from raw_imu message
 355  *
 356  * @return Angular speed around Y axis (raw)
 357  */
 358 static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
 359 {
 360         return _MAV_RETURN_int16_t(msg,  16);
 361 }
 362
 363 /**
 364  * @brief Get field zgyro from raw_imu message
 365  *
 366  * @return Angular speed around Z axis (raw)
 367  */
 368 static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
 369 {
 370         return _MAV_RETURN_int16_t(msg,  18);
 371 }
 372
 373 /**
 374  * @brief Get field xmag from raw_imu message
 375  *
 376  * @return X Magnetic field (raw)
 377  */
 378 static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
 379 {
 380         return _MAV_RETURN_int16_t(msg,  20);
 381 }
 382
 383 /**
 384  * @brief Get field ymag from raw_imu message
 385  *
 386  * @return Y Magnetic field (raw)
 387  */
 388 static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
 389 {
 390         return _MAV_RETURN_int16_t(msg,  22);
 391 }
 392
 393 /**
 394  * @brief Get field zmag from raw_imu message
 395  *
 396  * @return Z Magnetic field (raw)
 397  */
 398 static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
 399 {
 400         return _MAV_RETURN_int16_t(msg,  24);
 401 }
 402
 403 /**
 404  * @brief Decode a raw_imu message into a struct
 405  *
 406  * @param msg The message to decode
 407  * @param raw_imu C-struct to decode the message contents into
 408  */
 409 static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu)
 410 {
 411 #if MAVLINK_NEED_BYTE_SWAP
 412         raw_imu->time_usec = mavlink_msg_raw_imu_get_time_usec(msg);
 413         raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg);
 414         raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg);
 415         raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg);
 416         raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg);
 417         raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg);
 418         raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg);
 419         raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg);
 420         raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg);
 421         raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg);
 422 #else
 423         memcpy(raw_imu, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_RAW_IMU_LEN);
 424 #endif
 425 }