lib/main/MAVLink/common/mavlink_msg_raw_imu.h

   1 #pragma once
   2 // MESSAGE RAW_IMU PACKING
   3
   4 #define MAVLINK_MSG_ID_RAW_IMU 27
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_raw_imu_t {
   8  uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
   9  int16_t xacc; /*< X acceleration (raw)*/
  10  int16_t yacc; /*< Y acceleration (raw)*/
  11  int16_t zacc; /*< Z acceleration (raw)*/
  12  int16_t xgyro; /*< Angular speed around X axis (raw)*/
  13  int16_t ygyro; /*< Angular speed around Y axis (raw)*/
  14  int16_t zgyro; /*< Angular speed around Z axis (raw)*/
  15  int16_t xmag; /*< X Magnetic field (raw)*/
  16  int16_t ymag; /*< Y Magnetic field (raw)*/
  17  int16_t zmag; /*< Z Magnetic field (raw)*/
  18 }) mavlink_raw_imu_t;
  19
  20 #define MAVLINK_MSG_ID_RAW_IMU_LEN 26
  21 #define MAVLINK_MSG_ID_RAW_IMU_MIN_LEN 26
  22 #define MAVLINK_MSG_ID_27_LEN 26
  23 #define MAVLINK_MSG_ID_27_MIN_LEN 26
  24
  25 #define MAVLINK_MSG_ID_RAW_IMU_CRC 144
  26 #define MAVLINK_MSG_ID_27_CRC 144
  27
  28
  29
  30 #if MAVLINK_COMMAND_24BIT
  31 #define MAVLINK_MESSAGE_INFO_RAW_IMU { \
  32     27, \
  33     "RAW_IMU", \
  34     10, \
  35     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
  36          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
  37          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
  38          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
  39          { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
  40          { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
  41          { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
  42          { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
  43          { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
  44          { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
  45          } \
  46 }
  47 #else
  48 #define MAVLINK_MESSAGE_INFO_RAW_IMU { \
  49     "RAW_IMU", \
  50     10, \
  51     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
  52          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
  53          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
  54          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
  55          { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
  56          { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
  57          { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
  58          { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
  59          { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
  60          { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
  61          } \
  62 }
  63 #endif
  64
  65 /**
  66  * @brief Pack a raw_imu message
  67  * @param system_id ID of this system
  68  * @param component_id ID of this component (e.g. 200 for IMU)
  69  * @param msg The MAVLink message to compress the data into
  70  *
  71  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  72  * @param xacc X acceleration (raw)
  73  * @param yacc Y acceleration (raw)
  74  * @param zacc Z acceleration (raw)
  75  * @param xgyro Angular speed around X axis (raw)
  76  * @param ygyro Angular speed around Y axis (raw)
  77  * @param zgyro Angular speed around Z axis (raw)
  78  * @param xmag X Magnetic field (raw)
  79  * @param ymag Y Magnetic field (raw)
  80  * @param zmag Z Magnetic field (raw)
  81  * @return length of the message in bytes (excluding serial stream start sign)
  82  */
  83 static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  84                                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)
  85 {
  86 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  87     char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
  88     _mav_put_uint64_t(buf, 0, time_usec);
  89     _mav_put_int16_t(buf, 8, xacc);
  90     _mav_put_int16_t(buf, 10, yacc);
  91     _mav_put_int16_t(buf, 12, zacc);
  92     _mav_put_int16_t(buf, 14, xgyro);
  93     _mav_put_int16_t(buf, 16, ygyro);
  94     _mav_put_int16_t(buf, 18, zgyro);
  95     _mav_put_int16_t(buf, 20, xmag);
  96     _mav_put_int16_t(buf, 22, ymag);
  97     _mav_put_int16_t(buf, 24, zmag);
  98
  99         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
 100 #else
 101     mavlink_raw_imu_t packet;
 102     packet.time_usec = time_usec;
 103     packet.xacc = xacc;
 104     packet.yacc = yacc;
 105     packet.zacc = zacc;
 106     packet.xgyro = xgyro;
 107     packet.ygyro = ygyro;
 108     packet.zgyro = zgyro;
 109     packet.xmag = xmag;
 110     packet.ymag = ymag;
 111     packet.zmag = zmag;
 112
 113         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
 114 #endif
 115
 116     msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
 117     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 118 }
 119
 120 /**
 121  * @brief Pack a raw_imu message on a channel
 122  * @param system_id ID of this system
 123  * @param component_id ID of this component (e.g. 200 for IMU)
 124  * @param chan The MAVLink channel this message will be sent over
 125  * @param msg The MAVLink message to compress the data into
 126  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 127  * @param xacc X acceleration (raw)
 128  * @param yacc Y acceleration (raw)
 129  * @param zacc Z acceleration (raw)
 130  * @param xgyro Angular speed around X axis (raw)
 131  * @param ygyro Angular speed around Y axis (raw)
 132  * @param zgyro Angular speed around Z axis (raw)
 133  * @param xmag X Magnetic field (raw)
 134  * @param ymag Y Magnetic field (raw)
 135  * @param zmag Z Magnetic field (raw)
 136  * @return length of the message in bytes (excluding serial stream start sign)
 137  */
 138 static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 139                                mavlink_message_t* msg,
 140                                    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)
 141 {
 142 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 143     char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
 144     _mav_put_uint64_t(buf, 0, time_usec);
 145     _mav_put_int16_t(buf, 8, xacc);
 146     _mav_put_int16_t(buf, 10, yacc);
 147     _mav_put_int16_t(buf, 12, zacc);
 148     _mav_put_int16_t(buf, 14, xgyro);
 149     _mav_put_int16_t(buf, 16, ygyro);
 150     _mav_put_int16_t(buf, 18, zgyro);
 151     _mav_put_int16_t(buf, 20, xmag);
 152     _mav_put_int16_t(buf, 22, ymag);
 153     _mav_put_int16_t(buf, 24, zmag);
 154
 155         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
 156 #else
 157     mavlink_raw_imu_t packet;
 158     packet.time_usec = time_usec;
 159     packet.xacc = xacc;
 160     packet.yacc = yacc;
 161     packet.zacc = zacc;
 162     packet.xgyro = xgyro;
 163     packet.ygyro = ygyro;
 164     packet.zgyro = zgyro;
 165     packet.xmag = xmag;
 166     packet.ymag = ymag;
 167     packet.zmag = zmag;
 168
 169         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
 170 #endif
 171
 172     msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
 173     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 174 }
 175
 176 /**
 177  * @brief Encode a raw_imu struct
 178  *
 179  * @param system_id ID of this system
 180  * @param component_id ID of this component (e.g. 200 for IMU)
 181  * @param msg The MAVLink message to compress the data into
 182  * @param raw_imu C-struct to read the message contents from
 183  */
 184 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)
 185 {
 186     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);
 187 }
 188
 189 /**
 190  * @brief Encode a raw_imu struct on a channel
 191  *
 192  * @param system_id ID of this system
 193  * @param component_id ID of this component (e.g. 200 for IMU)
 194  * @param chan The MAVLink channel this message will be sent over
 195  * @param msg The MAVLink message to compress the data into
 196  * @param raw_imu C-struct to read the message contents from
 197  */
 198 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)
 199 {
 200     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);
 201 }
 202
 203 /**
 204  * @brief Send a raw_imu message
 205  * @param chan MAVLink channel to send the message
 206  *
 207  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 208  * @param xacc X acceleration (raw)
 209  * @param yacc Y acceleration (raw)
 210  * @param zacc Z acceleration (raw)
 211  * @param xgyro Angular speed around X axis (raw)
 212  * @param ygyro Angular speed around Y axis (raw)
 213  * @param zgyro Angular speed around Z axis (raw)
 214  * @param xmag X Magnetic field (raw)
 215  * @param ymag Y Magnetic field (raw)
 216  * @param zmag Z Magnetic field (raw)
 217  */
 218 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 219
 220 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)
 221 {
 222 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 223     char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
 224     _mav_put_uint64_t(buf, 0, time_usec);
 225     _mav_put_int16_t(buf, 8, xacc);
 226     _mav_put_int16_t(buf, 10, yacc);
 227     _mav_put_int16_t(buf, 12, zacc);
 228     _mav_put_int16_t(buf, 14, xgyro);
 229     _mav_put_int16_t(buf, 16, ygyro);
 230     _mav_put_int16_t(buf, 18, zgyro);
 231     _mav_put_int16_t(buf, 20, xmag);
 232     _mav_put_int16_t(buf, 22, ymag);
 233     _mav_put_int16_t(buf, 24, zmag);
 234
 235     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 236 #else
 237     mavlink_raw_imu_t packet;
 238     packet.time_usec = time_usec;
 239     packet.xacc = xacc;
 240     packet.yacc = yacc;
 241     packet.zacc = zacc;
 242     packet.xgyro = xgyro;
 243     packet.ygyro = ygyro;
 244     packet.zgyro = zgyro;
 245     packet.xmag = xmag;
 246     packet.ymag = ymag;
 247     packet.zmag = zmag;
 248
 249     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 250 #endif
 251 }
 252
 253 /**
 254  * @brief Send a raw_imu message
 255  * @param chan MAVLink channel to send the message
 256  * @param struct The MAVLink struct to serialize
 257  */
 258 static inline void mavlink_msg_raw_imu_send_struct(mavlink_channel_t chan, const mavlink_raw_imu_t* raw_imu)
 259 {
 260 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 261     mavlink_msg_raw_imu_send(chan, 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);
 262 #else
 263     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)raw_imu, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 264 #endif
 265 }
 266
 267 #if MAVLINK_MSG_ID_RAW_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 268 /*
 269   This varient of _send() can be used to save stack space by re-using
 270   memory from the receive buffer.  The caller provides a
 271   mavlink_message_t which is the size of a full mavlink message. This
 272   is usually the receive buffer for the channel, and allows a reply to an
 273   incoming message with minimum stack space usage.
 274  */
 275 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)
 276 {
 277 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 278     char *buf = (char *)msgbuf;
 279     _mav_put_uint64_t(buf, 0, time_usec);
 280     _mav_put_int16_t(buf, 8, xacc);
 281     _mav_put_int16_t(buf, 10, yacc);
 282     _mav_put_int16_t(buf, 12, zacc);
 283     _mav_put_int16_t(buf, 14, xgyro);
 284     _mav_put_int16_t(buf, 16, ygyro);
 285     _mav_put_int16_t(buf, 18, zgyro);
 286     _mav_put_int16_t(buf, 20, xmag);
 287     _mav_put_int16_t(buf, 22, ymag);
 288     _mav_put_int16_t(buf, 24, zmag);
 289
 290     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 291 #else
 292     mavlink_raw_imu_t *packet = (mavlink_raw_imu_t *)msgbuf;
 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
 304     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)packet, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
 305 #endif
 306 }
 307 #endif
 308
 309 #endif
 310
 311 // MESSAGE RAW_IMU UNPACKING
 312
 313
 314 /**
 315  * @brief Get field time_usec from raw_imu message
 316  *
 317  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 318  */
 319 static inline uint64_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t* msg)
 320 {
 321     return _MAV_RETURN_uint64_t(msg,  0);
 322 }
 323
 324 /**
 325  * @brief Get field xacc from raw_imu message
 326  *
 327  * @return X acceleration (raw)
 328  */
 329 static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
 330 {
 331     return _MAV_RETURN_int16_t(msg,  8);
 332 }
 333
 334 /**
 335  * @brief Get field yacc from raw_imu message
 336  *
 337  * @return Y acceleration (raw)
 338  */
 339 static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
 340 {
 341     return _MAV_RETURN_int16_t(msg,  10);
 342 }
 343
 344 /**
 345  * @brief Get field zacc from raw_imu message
 346  *
 347  * @return Z acceleration (raw)
 348  */
 349 static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
 350 {
 351     return _MAV_RETURN_int16_t(msg,  12);
 352 }
 353
 354 /**
 355  * @brief Get field xgyro from raw_imu message
 356  *
 357  * @return Angular speed around X axis (raw)
 358  */
 359 static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
 360 {
 361     return _MAV_RETURN_int16_t(msg,  14);
 362 }
 363
 364 /**
 365  * @brief Get field ygyro from raw_imu message
 366  *
 367  * @return Angular speed around Y axis (raw)
 368  */
 369 static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
 370 {
 371     return _MAV_RETURN_int16_t(msg,  16);
 372 }
 373
 374 /**
 375  * @brief Get field zgyro from raw_imu message
 376  *
 377  * @return Angular speed around Z axis (raw)
 378  */
 379 static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
 380 {
 381     return _MAV_RETURN_int16_t(msg,  18);
 382 }
 383
 384 /**
 385  * @brief Get field xmag from raw_imu message
 386  *
 387  * @return X Magnetic field (raw)
 388  */
 389 static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
 390 {
 391     return _MAV_RETURN_int16_t(msg,  20);
 392 }
 393
 394 /**
 395  * @brief Get field ymag from raw_imu message
 396  *
 397  * @return Y Magnetic field (raw)
 398  */
 399 static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
 400 {
 401     return _MAV_RETURN_int16_t(msg,  22);
 402 }
 403
 404 /**
 405  * @brief Get field zmag from raw_imu message
 406  *
 407  * @return Z Magnetic field (raw)
 408  */
 409 static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
 410 {
 411     return _MAV_RETURN_int16_t(msg,  24);
 412 }
 413
 414 /**
 415  * @brief Decode a raw_imu message into a struct
 416  *
 417  * @param msg The message to decode
 418  * @param raw_imu C-struct to decode the message contents into
 419  */
 420 static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu)
 421 {
 422 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 423     raw_imu->time_usec = mavlink_msg_raw_imu_get_time_usec(msg);
 424     raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg);
 425     raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg);
 426     raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg);
 427     raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg);
 428     raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg);
 429     raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg);
 430     raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg);
 431     raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg);
 432     raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg);
 433 #else
 434         uint8_t len = msg->len < MAVLINK_MSG_ID_RAW_IMU_LEN? msg->len : MAVLINK_MSG_ID_RAW_IMU_LEN;
 435         memset(raw_imu, 0, MAVLINK_MSG_ID_RAW_IMU_LEN);
 436     memcpy(raw_imu, _MAV_PAYLOAD(msg), len);
 437 #endif
 438 }