lib/main/MAVLink/common/mavlink_msg_highres_imu.h

   1 #pragma once
   2 // MESSAGE HIGHRES_IMU PACKING
   3
   4 #define MAVLINK_MSG_ID_HIGHRES_IMU 105
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_highres_imu_t {
   8  uint64_t time_usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
   9  float xacc; /*< X acceleration (m/s^2)*/
  10  float yacc; /*< Y acceleration (m/s^2)*/
  11  float zacc; /*< Z acceleration (m/s^2)*/
  12  float xgyro; /*< Angular speed around X axis (rad / sec)*/
  13  float ygyro; /*< Angular speed around Y axis (rad / sec)*/
  14  float zgyro; /*< Angular speed around Z axis (rad / sec)*/
  15  float xmag; /*< X Magnetic field (Gauss)*/
  16  float ymag; /*< Y Magnetic field (Gauss)*/
  17  float zmag; /*< Z Magnetic field (Gauss)*/
  18  float abs_pressure; /*< Absolute pressure in millibar*/
  19  float diff_pressure; /*< Differential pressure in millibar*/
  20  float pressure_alt; /*< Altitude calculated from pressure*/
  21  float temperature; /*< Temperature in degrees celsius*/
  22  uint16_t fields_updated; /*< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature*/
  23 }) mavlink_highres_imu_t;
  24
  25 #define MAVLINK_MSG_ID_HIGHRES_IMU_LEN 62
  26 #define MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN 62
  27 #define MAVLINK_MSG_ID_105_LEN 62
  28 #define MAVLINK_MSG_ID_105_MIN_LEN 62
  29
  30 #define MAVLINK_MSG_ID_HIGHRES_IMU_CRC 93
  31 #define MAVLINK_MSG_ID_105_CRC 93
  32
  33
  34
  35 #if MAVLINK_COMMAND_24BIT
  36 #define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
  37     105, \
  38     "HIGHRES_IMU", \
  39     15, \
  40     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \
  41          { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
  42          { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
  43          { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
  44          { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \
  45          { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \
  46          { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \
  47          { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \
  48          { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \
  49          { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \
  50          { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \
  51          { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \
  52          { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \
  53          { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \
  54          { "fields_updated", NULL, MAVLINK_TYPE_UINT16_T, 0, 60, offsetof(mavlink_highres_imu_t, fields_updated) }, \
  55          } \
  56 }
  57 #else
  58 #define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
  59     "HIGHRES_IMU", \
  60     15, \
  61     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \
  62          { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
  63          { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
  64          { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
  65          { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \
  66          { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \
  67          { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \
  68          { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \
  69          { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \
  70          { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \
  71          { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \
  72          { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \
  73          { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \
  74          { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \
  75          { "fields_updated", NULL, MAVLINK_TYPE_UINT16_T, 0, 60, offsetof(mavlink_highres_imu_t, fields_updated) }, \
  76          } \
  77 }
  78 #endif
  79
  80 /**
  81  * @brief Pack a highres_imu message
  82  * @param system_id ID of this system
  83  * @param component_id ID of this component (e.g. 200 for IMU)
  84  * @param msg The MAVLink message to compress the data into
  85  *
  86  * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
  87  * @param xacc X acceleration (m/s^2)
  88  * @param yacc Y acceleration (m/s^2)
  89  * @param zacc Z acceleration (m/s^2)
  90  * @param xgyro Angular speed around X axis (rad / sec)
  91  * @param ygyro Angular speed around Y axis (rad / sec)
  92  * @param zgyro Angular speed around Z axis (rad / sec)
  93  * @param xmag X Magnetic field (Gauss)
  94  * @param ymag Y Magnetic field (Gauss)
  95  * @param zmag Z Magnetic field (Gauss)
  96  * @param abs_pressure Absolute pressure in millibar
  97  * @param diff_pressure Differential pressure in millibar
  98  * @param pressure_alt Altitude calculated from pressure
  99  * @param temperature Temperature in degrees celsius
 100  * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
 101  * @return length of the message in bytes (excluding serial stream start sign)
 102  */
 103 static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 104                                uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
 105 {
 106 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 107     char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
 108     _mav_put_uint64_t(buf, 0, time_usec);
 109     _mav_put_float(buf, 8, xacc);
 110     _mav_put_float(buf, 12, yacc);
 111     _mav_put_float(buf, 16, zacc);
 112     _mav_put_float(buf, 20, xgyro);
 113     _mav_put_float(buf, 24, ygyro);
 114     _mav_put_float(buf, 28, zgyro);
 115     _mav_put_float(buf, 32, xmag);
 116     _mav_put_float(buf, 36, ymag);
 117     _mav_put_float(buf, 40, zmag);
 118     _mav_put_float(buf, 44, abs_pressure);
 119     _mav_put_float(buf, 48, diff_pressure);
 120     _mav_put_float(buf, 52, pressure_alt);
 121     _mav_put_float(buf, 56, temperature);
 122     _mav_put_uint16_t(buf, 60, fields_updated);
 123
 124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
 125 #else
 126     mavlink_highres_imu_t packet;
 127     packet.time_usec = time_usec;
 128     packet.xacc = xacc;
 129     packet.yacc = yacc;
 130     packet.zacc = zacc;
 131     packet.xgyro = xgyro;
 132     packet.ygyro = ygyro;
 133     packet.zgyro = zgyro;
 134     packet.xmag = xmag;
 135     packet.ymag = ymag;
 136     packet.zmag = zmag;
 137     packet.abs_pressure = abs_pressure;
 138     packet.diff_pressure = diff_pressure;
 139     packet.pressure_alt = pressure_alt;
 140     packet.temperature = temperature;
 141     packet.fields_updated = fields_updated;
 142
 143         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
 144 #endif
 145
 146     msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
 147     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
 148 }
 149
 150 /**
 151  * @brief Pack a highres_imu message on a channel
 152  * @param system_id ID of this system
 153  * @param component_id ID of this component (e.g. 200 for IMU)
 154  * @param chan The MAVLink channel this message will be sent over
 155  * @param msg The MAVLink message to compress the data into
 156  * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
 157  * @param xacc X acceleration (m/s^2)
 158  * @param yacc Y acceleration (m/s^2)
 159  * @param zacc Z acceleration (m/s^2)
 160  * @param xgyro Angular speed around X axis (rad / sec)
 161  * @param ygyro Angular speed around Y axis (rad / sec)
 162  * @param zgyro Angular speed around Z axis (rad / sec)
 163  * @param xmag X Magnetic field (Gauss)
 164  * @param ymag Y Magnetic field (Gauss)
 165  * @param zmag Z Magnetic field (Gauss)
 166  * @param abs_pressure Absolute pressure in millibar
 167  * @param diff_pressure Differential pressure in millibar
 168  * @param pressure_alt Altitude calculated from pressure
 169  * @param temperature Temperature in degrees celsius
 170  * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
 171  * @return length of the message in bytes (excluding serial stream start sign)
 172  */
 173 static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 174                                mavlink_message_t* msg,
 175                                    uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint16_t fields_updated)
 176 {
 177 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 178     char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
 179     _mav_put_uint64_t(buf, 0, time_usec);
 180     _mav_put_float(buf, 8, xacc);
 181     _mav_put_float(buf, 12, yacc);
 182     _mav_put_float(buf, 16, zacc);
 183     _mav_put_float(buf, 20, xgyro);
 184     _mav_put_float(buf, 24, ygyro);
 185     _mav_put_float(buf, 28, zgyro);
 186     _mav_put_float(buf, 32, xmag);
 187     _mav_put_float(buf, 36, ymag);
 188     _mav_put_float(buf, 40, zmag);
 189     _mav_put_float(buf, 44, abs_pressure);
 190     _mav_put_float(buf, 48, diff_pressure);
 191     _mav_put_float(buf, 52, pressure_alt);
 192     _mav_put_float(buf, 56, temperature);
 193     _mav_put_uint16_t(buf, 60, fields_updated);
 194
 195         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
 196 #else
 197     mavlink_highres_imu_t packet;
 198     packet.time_usec = time_usec;
 199     packet.xacc = xacc;
 200     packet.yacc = yacc;
 201     packet.zacc = zacc;
 202     packet.xgyro = xgyro;
 203     packet.ygyro = ygyro;
 204     packet.zgyro = zgyro;
 205     packet.xmag = xmag;
 206     packet.ymag = ymag;
 207     packet.zmag = zmag;
 208     packet.abs_pressure = abs_pressure;
 209     packet.diff_pressure = diff_pressure;
 210     packet.pressure_alt = pressure_alt;
 211     packet.temperature = temperature;
 212     packet.fields_updated = fields_updated;
 213
 214         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
 215 #endif
 216
 217     msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
 218     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
 219 }
 220
 221 /**
 222  * @brief Encode a highres_imu struct
 223  *
 224  * @param system_id ID of this system
 225  * @param component_id ID of this component (e.g. 200 for IMU)
 226  * @param msg The MAVLink message to compress the data into
 227  * @param highres_imu C-struct to read the message contents from
 228  */
 229 static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
 230 {
 231     return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
 232 }
 233
 234 /**
 235  * @brief Encode a highres_imu struct on a channel
 236  *
 237  * @param system_id ID of this system
 238  * @param component_id ID of this component (e.g. 200 for IMU)
 239  * @param chan The MAVLink channel this message will be sent over
 240  * @param msg The MAVLink message to compress the data into
 241  * @param highres_imu C-struct to read the message contents from
 242  */
 243 static inline uint16_t mavlink_msg_highres_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
 244 {
 245     return mavlink_msg_highres_imu_pack_chan(system_id, component_id, chan, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
 246 }
 247
 248 /**
 249  * @brief Send a highres_imu message
 250  * @param chan MAVLink channel to send the message
 251  *
 252  * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
 253  * @param xacc X acceleration (m/s^2)
 254  * @param yacc Y acceleration (m/s^2)
 255  * @param zacc Z acceleration (m/s^2)
 256  * @param xgyro Angular speed around X axis (rad / sec)
 257  * @param ygyro Angular speed around Y axis (rad / sec)
 258  * @param zgyro Angular speed around Z axis (rad / sec)
 259  * @param xmag X Magnetic field (Gauss)
 260  * @param ymag Y Magnetic field (Gauss)
 261  * @param zmag Z Magnetic field (Gauss)
 262  * @param abs_pressure Absolute pressure in millibar
 263  * @param diff_pressure Differential pressure in millibar
 264  * @param pressure_alt Altitude calculated from pressure
 265  * @param temperature Temperature in degrees celsius
 266  * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
 267  */
 268 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 269
 270 static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
 271 {
 272 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 273     char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
 274     _mav_put_uint64_t(buf, 0, time_usec);
 275     _mav_put_float(buf, 8, xacc);
 276     _mav_put_float(buf, 12, yacc);
 277     _mav_put_float(buf, 16, zacc);
 278     _mav_put_float(buf, 20, xgyro);
 279     _mav_put_float(buf, 24, ygyro);
 280     _mav_put_float(buf, 28, zgyro);
 281     _mav_put_float(buf, 32, xmag);
 282     _mav_put_float(buf, 36, ymag);
 283     _mav_put_float(buf, 40, zmag);
 284     _mav_put_float(buf, 44, abs_pressure);
 285     _mav_put_float(buf, 48, diff_pressure);
 286     _mav_put_float(buf, 52, pressure_alt);
 287     _mav_put_float(buf, 56, temperature);
 288     _mav_put_uint16_t(buf, 60, fields_updated);
 289
 290     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
 291 #else
 292     mavlink_highres_imu_t packet;
 293     packet.time_usec = time_usec;
 294     packet.xacc = xacc;
 295     packet.yacc = yacc;
 296     packet.zacc = zacc;
 297     packet.xgyro = xgyro;
 298     packet.ygyro = ygyro;
 299     packet.zgyro = zgyro;
 300     packet.xmag = xmag;
 301     packet.ymag = ymag;
 302     packet.zmag = zmag;
 303     packet.abs_pressure = abs_pressure;
 304     packet.diff_pressure = diff_pressure;
 305     packet.pressure_alt = pressure_alt;
 306     packet.temperature = temperature;
 307     packet.fields_updated = fields_updated;
 308
 309     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
 310 #endif
 311 }
 312
 313 /**
 314  * @brief Send a highres_imu message
 315  * @param chan MAVLink channel to send the message
 316  * @param struct The MAVLink struct to serialize
 317  */
 318 static inline void mavlink_msg_highres_imu_send_struct(mavlink_channel_t chan, const mavlink_highres_imu_t* highres_imu)
 319 {
 320 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 321     mavlink_msg_highres_imu_send(chan, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
 322 #else
 323     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)highres_imu, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
 324 #endif
 325 }
 326
 327 #if MAVLINK_MSG_ID_HIGHRES_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 328 /*
 329   This varient of _send() can be used to save stack space by re-using
 330   memory from the receive buffer.  The caller provides a
 331   mavlink_message_t which is the size of a full mavlink message. This
 332   is usually the receive buffer for the channel, and allows a reply to an
 333   incoming message with minimum stack space usage.
 334  */
 335 static inline void mavlink_msg_highres_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
 336 {
 337 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 338     char *buf = (char *)msgbuf;
 339     _mav_put_uint64_t(buf, 0, time_usec);
 340     _mav_put_float(buf, 8, xacc);
 341     _mav_put_float(buf, 12, yacc);
 342     _mav_put_float(buf, 16, zacc);
 343     _mav_put_float(buf, 20, xgyro);
 344     _mav_put_float(buf, 24, ygyro);
 345     _mav_put_float(buf, 28, zgyro);
 346     _mav_put_float(buf, 32, xmag);
 347     _mav_put_float(buf, 36, ymag);
 348     _mav_put_float(buf, 40, zmag);
 349     _mav_put_float(buf, 44, abs_pressure);
 350     _mav_put_float(buf, 48, diff_pressure);
 351     _mav_put_float(buf, 52, pressure_alt);
 352     _mav_put_float(buf, 56, temperature);
 353     _mav_put_uint16_t(buf, 60, fields_updated);
 354
 355     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
 356 #else
 357     mavlink_highres_imu_t *packet = (mavlink_highres_imu_t *)msgbuf;
 358     packet->time_usec = time_usec;
 359     packet->xacc = xacc;
 360     packet->yacc = yacc;
 361     packet->zacc = zacc;
 362     packet->xgyro = xgyro;
 363     packet->ygyro = ygyro;
 364     packet->zgyro = zgyro;
 365     packet->xmag = xmag;
 366     packet->ymag = ymag;
 367     packet->zmag = zmag;
 368     packet->abs_pressure = abs_pressure;
 369     packet->diff_pressure = diff_pressure;
 370     packet->pressure_alt = pressure_alt;
 371     packet->temperature = temperature;
 372     packet->fields_updated = fields_updated;
 373
 374     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)packet, MAVLINK_MSG_ID_HIGHRES_IMU_MIN_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
 375 #endif
 376 }
 377 #endif
 378
 379 #endif
 380
 381 // MESSAGE HIGHRES_IMU UNPACKING
 382
 383
 384 /**
 385  * @brief Get field time_usec from highres_imu message
 386  *
 387  * @return Timestamp (microseconds, synced to UNIX time or since system boot)
 388  */
 389 static inline uint64_t mavlink_msg_highres_imu_get_time_usec(const mavlink_message_t* msg)
 390 {
 391     return _MAV_RETURN_uint64_t(msg,  0);
 392 }
 393
 394 /**
 395  * @brief Get field xacc from highres_imu message
 396  *
 397  * @return X acceleration (m/s^2)
 398  */
 399 static inline float mavlink_msg_highres_imu_get_xacc(const mavlink_message_t* msg)
 400 {
 401     return _MAV_RETURN_float(msg,  8);
 402 }
 403
 404 /**
 405  * @brief Get field yacc from highres_imu message
 406  *
 407  * @return Y acceleration (m/s^2)
 408  */
 409 static inline float mavlink_msg_highres_imu_get_yacc(const mavlink_message_t* msg)
 410 {
 411     return _MAV_RETURN_float(msg,  12);
 412 }
 413
 414 /**
 415  * @brief Get field zacc from highres_imu message
 416  *
 417  * @return Z acceleration (m/s^2)
 418  */
 419 static inline float mavlink_msg_highres_imu_get_zacc(const mavlink_message_t* msg)
 420 {
 421     return _MAV_RETURN_float(msg,  16);
 422 }
 423
 424 /**
 425  * @brief Get field xgyro from highres_imu message
 426  *
 427  * @return Angular speed around X axis (rad / sec)
 428  */
 429 static inline float mavlink_msg_highres_imu_get_xgyro(const mavlink_message_t* msg)
 430 {
 431     return _MAV_RETURN_float(msg,  20);
 432 }
 433
 434 /**
 435  * @brief Get field ygyro from highres_imu message
 436  *
 437  * @return Angular speed around Y axis (rad / sec)
 438  */
 439 static inline float mavlink_msg_highres_imu_get_ygyro(const mavlink_message_t* msg)
 440 {
 441     return _MAV_RETURN_float(msg,  24);
 442 }
 443
 444 /**
 445  * @brief Get field zgyro from highres_imu message
 446  *
 447  * @return Angular speed around Z axis (rad / sec)
 448  */
 449 static inline float mavlink_msg_highres_imu_get_zgyro(const mavlink_message_t* msg)
 450 {
 451     return _MAV_RETURN_float(msg,  28);
 452 }
 453
 454 /**
 455  * @brief Get field xmag from highres_imu message
 456  *
 457  * @return X Magnetic field (Gauss)
 458  */
 459 static inline float mavlink_msg_highres_imu_get_xmag(const mavlink_message_t* msg)
 460 {
 461     return _MAV_RETURN_float(msg,  32);
 462 }
 463
 464 /**
 465  * @brief Get field ymag from highres_imu message
 466  *
 467  * @return Y Magnetic field (Gauss)
 468  */
 469 static inline float mavlink_msg_highres_imu_get_ymag(const mavlink_message_t* msg)
 470 {
 471     return _MAV_RETURN_float(msg,  36);
 472 }
 473
 474 /**
 475  * @brief Get field zmag from highres_imu message
 476  *
 477  * @return Z Magnetic field (Gauss)
 478  */
 479 static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* msg)
 480 {
 481     return _MAV_RETURN_float(msg,  40);
 482 }
 483
 484 /**
 485  * @brief Get field abs_pressure from highres_imu message
 486  *
 487  * @return Absolute pressure in millibar
 488  */
 489 static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg)
 490 {
 491     return _MAV_RETURN_float(msg,  44);
 492 }
 493
 494 /**
 495  * @brief Get field diff_pressure from highres_imu message
 496  *
 497  * @return Differential pressure in millibar
 498  */
 499 static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg)
 500 {
 501     return _MAV_RETURN_float(msg,  48);
 502 }
 503
 504 /**
 505  * @brief Get field pressure_alt from highres_imu message
 506  *
 507  * @return Altitude calculated from pressure
 508  */
 509 static inline float mavlink_msg_highres_imu_get_pressure_alt(const mavlink_message_t* msg)
 510 {
 511     return _MAV_RETURN_float(msg,  52);
 512 }
 513
 514 /**
 515  * @brief Get field temperature from highres_imu message
 516  *
 517  * @return Temperature in degrees celsius
 518  */
 519 static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_message_t* msg)
 520 {
 521     return _MAV_RETURN_float(msg,  56);
 522 }
 523
 524 /**
 525  * @brief Get field fields_updated from highres_imu message
 526  *
 527  * @return Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
 528  */
 529 static inline uint16_t mavlink_msg_highres_imu_get_fields_updated(const mavlink_message_t* msg)
 530 {
 531     return _MAV_RETURN_uint16_t(msg,  60);
 532 }
 533
 534 /**
 535  * @brief Decode a highres_imu message into a struct
 536  *
 537  * @param msg The message to decode
 538  * @param highres_imu C-struct to decode the message contents into
 539  */
 540 static inline void mavlink_msg_highres_imu_decode(const mavlink_message_t* msg, mavlink_highres_imu_t* highres_imu)
 541 {
 542 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 543     highres_imu->time_usec = mavlink_msg_highres_imu_get_time_usec(msg);
 544     highres_imu->xacc = mavlink_msg_highres_imu_get_xacc(msg);
 545     highres_imu->yacc = mavlink_msg_highres_imu_get_yacc(msg);
 546     highres_imu->zacc = mavlink_msg_highres_imu_get_zacc(msg);
 547     highres_imu->xgyro = mavlink_msg_highres_imu_get_xgyro(msg);
 548     highres_imu->ygyro = mavlink_msg_highres_imu_get_ygyro(msg);
 549     highres_imu->zgyro = mavlink_msg_highres_imu_get_zgyro(msg);
 550     highres_imu->xmag = mavlink_msg_highres_imu_get_xmag(msg);
 551     highres_imu->ymag = mavlink_msg_highres_imu_get_ymag(msg);
 552     highres_imu->zmag = mavlink_msg_highres_imu_get_zmag(msg);
 553     highres_imu->abs_pressure = mavlink_msg_highres_imu_get_abs_pressure(msg);
 554     highres_imu->diff_pressure = mavlink_msg_highres_imu_get_diff_pressure(msg);
 555     highres_imu->pressure_alt = mavlink_msg_highres_imu_get_pressure_alt(msg);
 556     highres_imu->temperature = mavlink_msg_highres_imu_get_temperature(msg);
 557     highres_imu->fields_updated = mavlink_msg_highres_imu_get_fields_updated(msg);
 558 #else
 559         uint8_t len = msg->len < MAVLINK_MSG_ID_HIGHRES_IMU_LEN? msg->len : MAVLINK_MSG_ID_HIGHRES_IMU_LEN;
 560         memset(highres_imu, 0, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
 561     memcpy(highres_imu, _MAV_PAYLOAD(msg), len);
 562 #endif
 563 }