lib/main/MAVLink/common/mavlink_msg_attitude_quaternion.h

   1 #pragma once
   2 // MESSAGE ATTITUDE_QUATERNION PACKING
   3
   4 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_attitude_quaternion_t {
   8  uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
   9  float q1; /*< Quaternion component 1, w (1 in null-rotation)*/
  10  float q2; /*< Quaternion component 2, x (0 in null-rotation)*/
  11  float q3; /*< Quaternion component 3, y (0 in null-rotation)*/
  12  float q4; /*< Quaternion component 4, z (0 in null-rotation)*/
  13  float rollspeed; /*< Roll angular speed (rad/s)*/
  14  float pitchspeed; /*< Pitch angular speed (rad/s)*/
  15  float yawspeed; /*< Yaw angular speed (rad/s)*/
  16 }) mavlink_attitude_quaternion_t;
  17
  18 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
  19 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN 32
  20 #define MAVLINK_MSG_ID_31_LEN 32
  21 #define MAVLINK_MSG_ID_31_MIN_LEN 32
  22
  23 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC 246
  24 #define MAVLINK_MSG_ID_31_CRC 246
  25
  26
  27
  28 #if MAVLINK_COMMAND_24BIT
  29 #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
  30     31, \
  31     "ATTITUDE_QUATERNION", \
  32     8, \
  33     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
  34          { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
  35          { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
  36          { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
  37          { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
  38          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
  39          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
  40          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
  41          } \
  42 }
  43 #else
  44 #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
  45     "ATTITUDE_QUATERNION", \
  46     8, \
  47     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
  48          { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
  49          { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
  50          { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
  51          { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
  52          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
  53          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
  54          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
  55          } \
  56 }
  57 #endif
  58
  59 /**
  60  * @brief Pack a attitude_quaternion message
  61  * @param system_id ID of this system
  62  * @param component_id ID of this component (e.g. 200 for IMU)
  63  * @param msg The MAVLink message to compress the data into
  64  *
  65  * @param time_boot_ms Timestamp (milliseconds since system boot)
  66  * @param q1 Quaternion component 1, w (1 in null-rotation)
  67  * @param q2 Quaternion component 2, x (0 in null-rotation)
  68  * @param q3 Quaternion component 3, y (0 in null-rotation)
  69  * @param q4 Quaternion component 4, z (0 in null-rotation)
  70  * @param rollspeed Roll angular speed (rad/s)
  71  * @param pitchspeed Pitch angular speed (rad/s)
  72  * @param yawspeed Yaw angular speed (rad/s)
  73  * @return length of the message in bytes (excluding serial stream start sign)
  74  */
  75 static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  76                                uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
  77 {
  78 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  79     char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
  80     _mav_put_uint32_t(buf, 0, time_boot_ms);
  81     _mav_put_float(buf, 4, q1);
  82     _mav_put_float(buf, 8, q2);
  83     _mav_put_float(buf, 12, q3);
  84     _mav_put_float(buf, 16, q4);
  85     _mav_put_float(buf, 20, rollspeed);
  86     _mav_put_float(buf, 24, pitchspeed);
  87     _mav_put_float(buf, 28, yawspeed);
  88
  89         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
  90 #else
  91     mavlink_attitude_quaternion_t packet;
  92     packet.time_boot_ms = time_boot_ms;
  93     packet.q1 = q1;
  94     packet.q2 = q2;
  95     packet.q3 = q3;
  96     packet.q4 = q4;
  97     packet.rollspeed = rollspeed;
  98     packet.pitchspeed = pitchspeed;
  99     packet.yawspeed = yawspeed;
 100
 101         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 102 #endif
 103
 104     msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
 105     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 106 }
 107
 108 /**
 109  * @brief Pack a attitude_quaternion message on a channel
 110  * @param system_id ID of this system
 111  * @param component_id ID of this component (e.g. 200 for IMU)
 112  * @param chan The MAVLink channel this message will be sent over
 113  * @param msg The MAVLink message to compress the data into
 114  * @param time_boot_ms Timestamp (milliseconds since system boot)
 115  * @param q1 Quaternion component 1, w (1 in null-rotation)
 116  * @param q2 Quaternion component 2, x (0 in null-rotation)
 117  * @param q3 Quaternion component 3, y (0 in null-rotation)
 118  * @param q4 Quaternion component 4, z (0 in null-rotation)
 119  * @param rollspeed Roll angular speed (rad/s)
 120  * @param pitchspeed Pitch angular speed (rad/s)
 121  * @param yawspeed Yaw angular speed (rad/s)
 122  * @return length of the message in bytes (excluding serial stream start sign)
 123  */
 124 static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 125                                mavlink_message_t* msg,
 126                                    uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed)
 127 {
 128 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 129     char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
 130     _mav_put_uint32_t(buf, 0, time_boot_ms);
 131     _mav_put_float(buf, 4, q1);
 132     _mav_put_float(buf, 8, q2);
 133     _mav_put_float(buf, 12, q3);
 134     _mav_put_float(buf, 16, q4);
 135     _mav_put_float(buf, 20, rollspeed);
 136     _mav_put_float(buf, 24, pitchspeed);
 137     _mav_put_float(buf, 28, yawspeed);
 138
 139         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 140 #else
 141     mavlink_attitude_quaternion_t packet;
 142     packet.time_boot_ms = time_boot_ms;
 143     packet.q1 = q1;
 144     packet.q2 = q2;
 145     packet.q3 = q3;
 146     packet.q4 = q4;
 147     packet.rollspeed = rollspeed;
 148     packet.pitchspeed = pitchspeed;
 149     packet.yawspeed = yawspeed;
 150
 151         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 152 #endif
 153
 154     msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
 155     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 156 }
 157
 158 /**
 159  * @brief Encode a attitude_quaternion struct
 160  *
 161  * @param system_id ID of this system
 162  * @param component_id ID of this component (e.g. 200 for IMU)
 163  * @param msg The MAVLink message to compress the data into
 164  * @param attitude_quaternion C-struct to read the message contents from
 165  */
 166 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)
 167 {
 168     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);
 169 }
 170
 171 /**
 172  * @brief Encode a attitude_quaternion struct on a channel
 173  *
 174  * @param system_id ID of this system
 175  * @param component_id ID of this component (e.g. 200 for IMU)
 176  * @param chan The MAVLink channel this message will be sent over
 177  * @param msg The MAVLink message to compress the data into
 178  * @param attitude_quaternion C-struct to read the message contents from
 179  */
 180 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)
 181 {
 182     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);
 183 }
 184
 185 /**
 186  * @brief Send a attitude_quaternion message
 187  * @param chan MAVLink channel to send the message
 188  *
 189  * @param time_boot_ms Timestamp (milliseconds since system boot)
 190  * @param q1 Quaternion component 1, w (1 in null-rotation)
 191  * @param q2 Quaternion component 2, x (0 in null-rotation)
 192  * @param q3 Quaternion component 3, y (0 in null-rotation)
 193  * @param q4 Quaternion component 4, z (0 in null-rotation)
 194  * @param rollspeed Roll angular speed (rad/s)
 195  * @param pitchspeed Pitch angular speed (rad/s)
 196  * @param yawspeed Yaw angular speed (rad/s)
 197  */
 198 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 199
 200 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)
 201 {
 202 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 203     char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
 204     _mav_put_uint32_t(buf, 0, time_boot_ms);
 205     _mav_put_float(buf, 4, q1);
 206     _mav_put_float(buf, 8, q2);
 207     _mav_put_float(buf, 12, q3);
 208     _mav_put_float(buf, 16, q4);
 209     _mav_put_float(buf, 20, rollspeed);
 210     _mav_put_float(buf, 24, pitchspeed);
 211     _mav_put_float(buf, 28, yawspeed);
 212
 213     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 214 #else
 215     mavlink_attitude_quaternion_t packet;
 216     packet.time_boot_ms = time_boot_ms;
 217     packet.q1 = q1;
 218     packet.q2 = q2;
 219     packet.q3 = q3;
 220     packet.q4 = q4;
 221     packet.rollspeed = rollspeed;
 222     packet.pitchspeed = pitchspeed;
 223     packet.yawspeed = yawspeed;
 224
 225     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 226 #endif
 227 }
 228
 229 /**
 230  * @brief Send a attitude_quaternion message
 231  * @param chan MAVLink channel to send the message
 232  * @param struct The MAVLink struct to serialize
 233  */
 234 static inline void mavlink_msg_attitude_quaternion_send_struct(mavlink_channel_t chan, const mavlink_attitude_quaternion_t* attitude_quaternion)
 235 {
 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 237     mavlink_msg_attitude_quaternion_send(chan, 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);
 238 #else
 239     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)attitude_quaternion, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 240 #endif
 241 }
 242
 243 #if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 244 /*
 245   This varient of _send() can be used to save stack space by re-using
 246   memory from the receive buffer.  The caller provides a
 247   mavlink_message_t which is the size of a full mavlink message. This
 248   is usually the receive buffer for the channel, and allows a reply to an
 249   incoming message with minimum stack space usage.
 250  */
 251 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)
 252 {
 253 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 254     char *buf = (char *)msgbuf;
 255     _mav_put_uint32_t(buf, 0, time_boot_ms);
 256     _mav_put_float(buf, 4, q1);
 257     _mav_put_float(buf, 8, q2);
 258     _mav_put_float(buf, 12, q3);
 259     _mav_put_float(buf, 16, q4);
 260     _mav_put_float(buf, 20, rollspeed);
 261     _mav_put_float(buf, 24, pitchspeed);
 262     _mav_put_float(buf, 28, yawspeed);
 263
 264     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 265 #else
 266     mavlink_attitude_quaternion_t *packet = (mavlink_attitude_quaternion_t *)msgbuf;
 267     packet->time_boot_ms = time_boot_ms;
 268     packet->q1 = q1;
 269     packet->q2 = q2;
 270     packet->q3 = q3;
 271     packet->q4 = q4;
 272     packet->rollspeed = rollspeed;
 273     packet->pitchspeed = pitchspeed;
 274     packet->yawspeed = yawspeed;
 275
 276     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
 277 #endif
 278 }
 279 #endif
 280
 281 #endif
 282
 283 // MESSAGE ATTITUDE_QUATERNION UNPACKING
 284
 285
 286 /**
 287  * @brief Get field time_boot_ms from attitude_quaternion message
 288  *
 289  * @return Timestamp (milliseconds since system boot)
 290  */
 291 static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg)
 292 {
 293     return _MAV_RETURN_uint32_t(msg,  0);
 294 }
 295
 296 /**
 297  * @brief Get field q1 from attitude_quaternion message
 298  *
 299  * @return Quaternion component 1, w (1 in null-rotation)
 300  */
 301 static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg)
 302 {
 303     return _MAV_RETURN_float(msg,  4);
 304 }
 305
 306 /**
 307  * @brief Get field q2 from attitude_quaternion message
 308  *
 309  * @return Quaternion component 2, x (0 in null-rotation)
 310  */
 311 static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg)
 312 {
 313     return _MAV_RETURN_float(msg,  8);
 314 }
 315
 316 /**
 317  * @brief Get field q3 from attitude_quaternion message
 318  *
 319  * @return Quaternion component 3, y (0 in null-rotation)
 320  */
 321 static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg)
 322 {
 323     return _MAV_RETURN_float(msg,  12);
 324 }
 325
 326 /**
 327  * @brief Get field q4 from attitude_quaternion message
 328  *
 329  * @return Quaternion component 4, z (0 in null-rotation)
 330  */
 331 static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg)
 332 {
 333     return _MAV_RETURN_float(msg,  16);
 334 }
 335
 336 /**
 337  * @brief Get field rollspeed from attitude_quaternion message
 338  *
 339  * @return Roll angular speed (rad/s)
 340  */
 341 static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg)
 342 {
 343     return _MAV_RETURN_float(msg,  20);
 344 }
 345
 346 /**
 347  * @brief Get field pitchspeed from attitude_quaternion message
 348  *
 349  * @return Pitch angular speed (rad/s)
 350  */
 351 static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg)
 352 {
 353     return _MAV_RETURN_float(msg,  24);
 354 }
 355
 356 /**
 357  * @brief Get field yawspeed from attitude_quaternion message
 358  *
 359  * @return Yaw angular speed (rad/s)
 360  */
 361 static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg)
 362 {
 363     return _MAV_RETURN_float(msg,  28);
 364 }
 365
 366 /**
 367  * @brief Decode a attitude_quaternion message into a struct
 368  *
 369  * @param msg The message to decode
 370  * @param attitude_quaternion C-struct to decode the message contents into
 371  */
 372 static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion)
 373 {
 374 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 375     attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
 376     attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
 377     attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
 378     attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
 379     attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
 380     attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
 381     attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
 382     attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
 383 #else
 384         uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN;
 385         memset(attitude_quaternion, 0, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
 386     memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), len);
 387 #endif
 388 }