lib/main/MAVLink/common/mavlink_msg_attitude.h

   1 #pragma once
   2 // MESSAGE ATTITUDE PACKING
   3
   4 #define MAVLINK_MSG_ID_ATTITUDE 30
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_attitude_t {
   8  uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
   9  float roll; /*< Roll angle (rad, -pi..+pi)*/
  10  float pitch; /*< Pitch angle (rad, -pi..+pi)*/
  11  float yaw; /*< Yaw angle (rad, -pi..+pi)*/
  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_t;
  16
  17 #define MAVLINK_MSG_ID_ATTITUDE_LEN 28
  18 #define MAVLINK_MSG_ID_ATTITUDE_MIN_LEN 28
  19 #define MAVLINK_MSG_ID_30_LEN 28
  20 #define MAVLINK_MSG_ID_30_MIN_LEN 28
  21
  22 #define MAVLINK_MSG_ID_ATTITUDE_CRC 39
  23 #define MAVLINK_MSG_ID_30_CRC 39
  24
  25
  26
  27 #if MAVLINK_COMMAND_24BIT
  28 #define MAVLINK_MESSAGE_INFO_ATTITUDE { \
  29     30, \
  30     "ATTITUDE", \
  31     7, \
  32     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
  33          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
  34          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
  35          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
  36          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
  37          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
  38          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
  39          } \
  40 }
  41 #else
  42 #define MAVLINK_MESSAGE_INFO_ATTITUDE { \
  43     "ATTITUDE", \
  44     7, \
  45     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
  46          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
  47          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
  48          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
  49          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
  50          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
  51          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
  52          } \
  53 }
  54 #endif
  55
  56 /**
  57  * @brief Pack a attitude message
  58  * @param system_id ID of this system
  59  * @param component_id ID of this component (e.g. 200 for IMU)
  60  * @param msg The MAVLink message to compress the data into
  61  *
  62  * @param time_boot_ms Timestamp (milliseconds since system boot)
  63  * @param roll Roll angle (rad, -pi..+pi)
  64  * @param pitch Pitch angle (rad, -pi..+pi)
  65  * @param yaw Yaw angle (rad, -pi..+pi)
  66  * @param rollspeed Roll angular speed (rad/s)
  67  * @param pitchspeed Pitch angular speed (rad/s)
  68  * @param yawspeed Yaw angular speed (rad/s)
  69  * @return length of the message in bytes (excluding serial stream start sign)
  70  */
  71 static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  72                                uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
  73 {
  74 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  75     char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
  76     _mav_put_uint32_t(buf, 0, time_boot_ms);
  77     _mav_put_float(buf, 4, roll);
  78     _mav_put_float(buf, 8, pitch);
  79     _mav_put_float(buf, 12, yaw);
  80     _mav_put_float(buf, 16, rollspeed);
  81     _mav_put_float(buf, 20, pitchspeed);
  82     _mav_put_float(buf, 24, yawspeed);
  83
  84         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
  85 #else
  86     mavlink_attitude_t packet;
  87     packet.time_boot_ms = time_boot_ms;
  88     packet.roll = roll;
  89     packet.pitch = pitch;
  90     packet.yaw = yaw;
  91     packet.rollspeed = rollspeed;
  92     packet.pitchspeed = pitchspeed;
  93     packet.yawspeed = yawspeed;
  94
  95         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
  96 #endif
  97
  98     msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
  99     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 100 }
 101
 102 /**
 103  * @brief Pack a attitude message on a channel
 104  * @param system_id ID of this system
 105  * @param component_id ID of this component (e.g. 200 for IMU)
 106  * @param chan The MAVLink channel this message will be sent over
 107  * @param msg The MAVLink message to compress the data into
 108  * @param time_boot_ms Timestamp (milliseconds since system boot)
 109  * @param roll Roll angle (rad, -pi..+pi)
 110  * @param pitch Pitch angle (rad, -pi..+pi)
 111  * @param yaw Yaw angle (rad, -pi..+pi)
 112  * @param rollspeed Roll angular speed (rad/s)
 113  * @param pitchspeed Pitch angular speed (rad/s)
 114  * @param yawspeed Yaw angular speed (rad/s)
 115  * @return length of the message in bytes (excluding serial stream start sign)
 116  */
 117 static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 118                                mavlink_message_t* msg,
 119                                    uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
 120 {
 121 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 122     char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
 123     _mav_put_uint32_t(buf, 0, time_boot_ms);
 124     _mav_put_float(buf, 4, roll);
 125     _mav_put_float(buf, 8, pitch);
 126     _mav_put_float(buf, 12, yaw);
 127     _mav_put_float(buf, 16, rollspeed);
 128     _mav_put_float(buf, 20, pitchspeed);
 129     _mav_put_float(buf, 24, yawspeed);
 130
 131         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
 132 #else
 133     mavlink_attitude_t packet;
 134     packet.time_boot_ms = time_boot_ms;
 135     packet.roll = roll;
 136     packet.pitch = pitch;
 137     packet.yaw = yaw;
 138     packet.rollspeed = rollspeed;
 139     packet.pitchspeed = pitchspeed;
 140     packet.yawspeed = yawspeed;
 141
 142         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
 143 #endif
 144
 145     msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
 146     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 147 }
 148
 149 /**
 150  * @brief Encode a attitude struct
 151  *
 152  * @param system_id ID of this system
 153  * @param component_id ID of this component (e.g. 200 for IMU)
 154  * @param msg The MAVLink message to compress the data into
 155  * @param attitude C-struct to read the message contents from
 156  */
 157 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)
 158 {
 159     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);
 160 }
 161
 162 /**
 163  * @brief Encode a attitude struct on a channel
 164  *
 165  * @param system_id ID of this system
 166  * @param component_id ID of this component (e.g. 200 for IMU)
 167  * @param chan The MAVLink channel this message will be sent over
 168  * @param msg The MAVLink message to compress the data into
 169  * @param attitude C-struct to read the message contents from
 170  */
 171 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)
 172 {
 173     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);
 174 }
 175
 176 /**
 177  * @brief Send a attitude message
 178  * @param chan MAVLink channel to send the message
 179  *
 180  * @param time_boot_ms Timestamp (milliseconds since system boot)
 181  * @param roll Roll angle (rad, -pi..+pi)
 182  * @param pitch Pitch angle (rad, -pi..+pi)
 183  * @param yaw Yaw angle (rad, -pi..+pi)
 184  * @param rollspeed Roll angular speed (rad/s)
 185  * @param pitchspeed Pitch angular speed (rad/s)
 186  * @param yawspeed Yaw angular speed (rad/s)
 187  */
 188 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 189
 190 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)
 191 {
 192 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 193     char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
 194     _mav_put_uint32_t(buf, 0, time_boot_ms);
 195     _mav_put_float(buf, 4, roll);
 196     _mav_put_float(buf, 8, pitch);
 197     _mav_put_float(buf, 12, yaw);
 198     _mav_put_float(buf, 16, rollspeed);
 199     _mav_put_float(buf, 20, pitchspeed);
 200     _mav_put_float(buf, 24, yawspeed);
 201
 202     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 203 #else
 204     mavlink_attitude_t packet;
 205     packet.time_boot_ms = time_boot_ms;
 206     packet.roll = roll;
 207     packet.pitch = pitch;
 208     packet.yaw = yaw;
 209     packet.rollspeed = rollspeed;
 210     packet.pitchspeed = pitchspeed;
 211     packet.yawspeed = yawspeed;
 212
 213     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 214 #endif
 215 }
 216
 217 /**
 218  * @brief Send a attitude message
 219  * @param chan MAVLink channel to send the message
 220  * @param struct The MAVLink struct to serialize
 221  */
 222 static inline void mavlink_msg_attitude_send_struct(mavlink_channel_t chan, const mavlink_attitude_t* attitude)
 223 {
 224 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 225     mavlink_msg_attitude_send(chan, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
 226 #else
 227     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)attitude, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 228 #endif
 229 }
 230
 231 #if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 232 /*
 233   This varient of _send() can be used to save stack space by re-using
 234   memory from the receive buffer.  The caller provides a
 235   mavlink_message_t which is the size of a full mavlink message. This
 236   is usually the receive buffer for the channel, and allows a reply to an
 237   incoming message with minimum stack space usage.
 238  */
 239 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)
 240 {
 241 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 242     char *buf = (char *)msgbuf;
 243     _mav_put_uint32_t(buf, 0, time_boot_ms);
 244     _mav_put_float(buf, 4, roll);
 245     _mav_put_float(buf, 8, pitch);
 246     _mav_put_float(buf, 12, yaw);
 247     _mav_put_float(buf, 16, rollspeed);
 248     _mav_put_float(buf, 20, pitchspeed);
 249     _mav_put_float(buf, 24, yawspeed);
 250
 251     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 252 #else
 253     mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
 254     packet->time_boot_ms = time_boot_ms;
 255     packet->roll = roll;
 256     packet->pitch = pitch;
 257     packet->yaw = yaw;
 258     packet->rollspeed = rollspeed;
 259     packet->pitchspeed = pitchspeed;
 260     packet->yawspeed = yawspeed;
 261
 262     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
 263 #endif
 264 }
 265 #endif
 266
 267 #endif
 268
 269 // MESSAGE ATTITUDE UNPACKING
 270
 271
 272 /**
 273  * @brief Get field time_boot_ms from attitude message
 274  *
 275  * @return Timestamp (milliseconds since system boot)
 276  */
 277 static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
 278 {
 279     return _MAV_RETURN_uint32_t(msg,  0);
 280 }
 281
 282 /**
 283  * @brief Get field roll from attitude message
 284  *
 285  * @return Roll angle (rad, -pi..+pi)
 286  */
 287 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
 288 {
 289     return _MAV_RETURN_float(msg,  4);
 290 }
 291
 292 /**
 293  * @brief Get field pitch from attitude message
 294  *
 295  * @return Pitch angle (rad, -pi..+pi)
 296  */
 297 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
 298 {
 299     return _MAV_RETURN_float(msg,  8);
 300 }
 301
 302 /**
 303  * @brief Get field yaw from attitude message
 304  *
 305  * @return Yaw angle (rad, -pi..+pi)
 306  */
 307 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
 308 {
 309     return _MAV_RETURN_float(msg,  12);
 310 }
 311
 312 /**
 313  * @brief Get field rollspeed from attitude message
 314  *
 315  * @return Roll angular speed (rad/s)
 316  */
 317 static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
 318 {
 319     return _MAV_RETURN_float(msg,  16);
 320 }
 321
 322 /**
 323  * @brief Get field pitchspeed from attitude message
 324  *
 325  * @return Pitch angular speed (rad/s)
 326  */
 327 static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
 328 {
 329     return _MAV_RETURN_float(msg,  20);
 330 }
 331
 332 /**
 333  * @brief Get field yawspeed from attitude message
 334  *
 335  * @return Yaw angular speed (rad/s)
 336  */
 337 static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
 338 {
 339     return _MAV_RETURN_float(msg,  24);
 340 }
 341
 342 /**
 343  * @brief Decode a attitude message into a struct
 344  *
 345  * @param msg The message to decode
 346  * @param attitude C-struct to decode the message contents into
 347  */
 348 static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
 349 {
 350 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 351     attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
 352     attitude->roll = mavlink_msg_attitude_get_roll(msg);
 353     attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
 354     attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
 355     attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
 356     attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
 357     attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
 358 #else
 359         uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_LEN;
 360         memset(attitude, 0, MAVLINK_MSG_ID_ATTITUDE_LEN);
 361     memcpy(attitude, _MAV_PAYLOAD(msg), len);
 362 #endif
 363 }