lib/main/MAVLink/common/mavlink_msg_gimbal_manager_set_attitude.h

   1 #pragma once
   2 // MESSAGE GIMBAL_MANAGER_SET_ATTITUDE PACKING
   3
   4 #define MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE 282
   5
   6
   7 typedef struct __mavlink_gimbal_manager_set_attitude_t {
   8  uint32_t flags; /*<  High level gimbal manager flags to use.*/
   9  float q[4]; /*<  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)*/
  10  float angular_velocity_x; /*< [rad/s] X component of angular velocity, positive is rolling to the right, NaN to be ignored.*/
  11  float angular_velocity_y; /*< [rad/s] Y component of angular velocity, positive is pitching up, NaN to be ignored.*/
  12  float angular_velocity_z; /*< [rad/s] Z component of angular velocity, positive is yawing to the right, NaN to be ignored.*/
  13  uint8_t target_system; /*<  System ID*/
  14  uint8_t target_component; /*<  Component ID*/
  15  uint8_t gimbal_device_id; /*<  Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).*/
  16 } mavlink_gimbal_manager_set_attitude_t;
  17
  18 #define MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN 35
  19 #define MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_MIN_LEN 35
  20 #define MAVLINK_MSG_ID_282_LEN 35
  21 #define MAVLINK_MSG_ID_282_MIN_LEN 35
  22
  23 #define MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_CRC 123
  24 #define MAVLINK_MSG_ID_282_CRC 123
  25
  26 #define MAVLINK_MSG_GIMBAL_MANAGER_SET_ATTITUDE_FIELD_Q_LEN 4
  27
  28 #if MAVLINK_COMMAND_24BIT
  29 #define MAVLINK_MESSAGE_INFO_GIMBAL_MANAGER_SET_ATTITUDE { \
  30     282, \
  31     "GIMBAL_MANAGER_SET_ATTITUDE", \
  32     8, \
  33     {  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gimbal_manager_set_attitude_t, target_system) }, \
  34          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gimbal_manager_set_attitude_t, target_component) }, \
  35          { "flags", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gimbal_manager_set_attitude_t, flags) }, \
  36          { "gimbal_device_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gimbal_manager_set_attitude_t, gimbal_device_id) }, \
  37          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_gimbal_manager_set_attitude_t, q) }, \
  38          { "angular_velocity_x", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_manager_set_attitude_t, angular_velocity_x) }, \
  39          { "angular_velocity_y", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gimbal_manager_set_attitude_t, angular_velocity_y) }, \
  40          { "angular_velocity_z", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gimbal_manager_set_attitude_t, angular_velocity_z) }, \
  41          } \
  42 }
  43 #else
  44 #define MAVLINK_MESSAGE_INFO_GIMBAL_MANAGER_SET_ATTITUDE { \
  45     "GIMBAL_MANAGER_SET_ATTITUDE", \
  46     8, \
  47     {  { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gimbal_manager_set_attitude_t, target_system) }, \
  48          { "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gimbal_manager_set_attitude_t, target_component) }, \
  49          { "flags", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gimbal_manager_set_attitude_t, flags) }, \
  50          { "gimbal_device_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gimbal_manager_set_attitude_t, gimbal_device_id) }, \
  51          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_gimbal_manager_set_attitude_t, q) }, \
  52          { "angular_velocity_x", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_manager_set_attitude_t, angular_velocity_x) }, \
  53          { "angular_velocity_y", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gimbal_manager_set_attitude_t, angular_velocity_y) }, \
  54          { "angular_velocity_z", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gimbal_manager_set_attitude_t, angular_velocity_z) }, \
  55          } \
  56 }
  57 #endif
  58
  59 /**
  60  * @brief Pack a gimbal_manager_set_attitude 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 target_system  System ID
  66  * @param target_component  Component ID
  67  * @param flags  High level gimbal manager flags to use.
  68  * @param gimbal_device_id  Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
  69  * @param q  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)
  70  * @param angular_velocity_x [rad/s] X component of angular velocity, positive is rolling to the right, NaN to be ignored.
  71  * @param angular_velocity_y [rad/s] Y component of angular velocity, positive is pitching up, NaN to be ignored.
  72  * @param angular_velocity_z [rad/s] Z component of angular velocity, positive is yawing to the right, NaN to be ignored.
  73  * @return length of the message in bytes (excluding serial stream start sign)
  74  */
  75 static inline uint16_t mavlink_msg_gimbal_manager_set_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  76                                uint8_t target_system, uint8_t target_component, uint32_t flags, uint8_t gimbal_device_id, const float *q, float angular_velocity_x, float angular_velocity_y, float angular_velocity_z)
  77 {
  78 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  79     char buf[MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN];
  80     _mav_put_uint32_t(buf, 0, flags);
  81     _mav_put_float(buf, 20, angular_velocity_x);
  82     _mav_put_float(buf, 24, angular_velocity_y);
  83     _mav_put_float(buf, 28, angular_velocity_z);
  84     _mav_put_uint8_t(buf, 32, target_system);
  85     _mav_put_uint8_t(buf, 33, target_component);
  86     _mav_put_uint8_t(buf, 34, gimbal_device_id);
  87     _mav_put_float_array(buf, 4, q, 4);
  88         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN);
  89 #else
  90     mavlink_gimbal_manager_set_attitude_t packet;
  91     packet.flags = flags;
  92     packet.angular_velocity_x = angular_velocity_x;
  93     packet.angular_velocity_y = angular_velocity_y;
  94     packet.angular_velocity_z = angular_velocity_z;
  95     packet.target_system = target_system;
  96     packet.target_component = target_component;
  97     packet.gimbal_device_id = gimbal_device_id;
  98     mav_array_memcpy(packet.q, q, sizeof(float)*4);
  99         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN);
 100 #endif
 101
 102     msg->msgid = MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE;
 103     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_CRC);
 104 }
 105
 106 /**
 107  * @brief Pack a gimbal_manager_set_attitude message on a channel
 108  * @param system_id ID of this system
 109  * @param component_id ID of this component (e.g. 200 for IMU)
 110  * @param chan The MAVLink channel this message will be sent over
 111  * @param msg The MAVLink message to compress the data into
 112  * @param target_system  System ID
 113  * @param target_component  Component ID
 114  * @param flags  High level gimbal manager flags to use.
 115  * @param gimbal_device_id  Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
 116  * @param q  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)
 117  * @param angular_velocity_x [rad/s] X component of angular velocity, positive is rolling to the right, NaN to be ignored.
 118  * @param angular_velocity_y [rad/s] Y component of angular velocity, positive is pitching up, NaN to be ignored.
 119  * @param angular_velocity_z [rad/s] Z component of angular velocity, positive is yawing to the right, NaN to be ignored.
 120  * @return length of the message in bytes (excluding serial stream start sign)
 121  */
 122 static inline uint16_t mavlink_msg_gimbal_manager_set_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 123                                mavlink_message_t* msg,
 124                                    uint8_t target_system,uint8_t target_component,uint32_t flags,uint8_t gimbal_device_id,const float *q,float angular_velocity_x,float angular_velocity_y,float angular_velocity_z)
 125 {
 126 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 127     char buf[MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN];
 128     _mav_put_uint32_t(buf, 0, flags);
 129     _mav_put_float(buf, 20, angular_velocity_x);
 130     _mav_put_float(buf, 24, angular_velocity_y);
 131     _mav_put_float(buf, 28, angular_velocity_z);
 132     _mav_put_uint8_t(buf, 32, target_system);
 133     _mav_put_uint8_t(buf, 33, target_component);
 134     _mav_put_uint8_t(buf, 34, gimbal_device_id);
 135     _mav_put_float_array(buf, 4, q, 4);
 136         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN);
 137 #else
 138     mavlink_gimbal_manager_set_attitude_t packet;
 139     packet.flags = flags;
 140     packet.angular_velocity_x = angular_velocity_x;
 141     packet.angular_velocity_y = angular_velocity_y;
 142     packet.angular_velocity_z = angular_velocity_z;
 143     packet.target_system = target_system;
 144     packet.target_component = target_component;
 145     packet.gimbal_device_id = gimbal_device_id;
 146     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 147         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN);
 148 #endif
 149
 150     msg->msgid = MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE;
 151     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_CRC);
 152 }
 153
 154 /**
 155  * @brief Encode a gimbal_manager_set_attitude struct
 156  *
 157  * @param system_id ID of this system
 158  * @param component_id ID of this component (e.g. 200 for IMU)
 159  * @param msg The MAVLink message to compress the data into
 160  * @param gimbal_manager_set_attitude C-struct to read the message contents from
 161  */
 162 static inline uint16_t mavlink_msg_gimbal_manager_set_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gimbal_manager_set_attitude_t* gimbal_manager_set_attitude)
 163 {
 164     return mavlink_msg_gimbal_manager_set_attitude_pack(system_id, component_id, msg, gimbal_manager_set_attitude->target_system, gimbal_manager_set_attitude->target_component, gimbal_manager_set_attitude->flags, gimbal_manager_set_attitude->gimbal_device_id, gimbal_manager_set_attitude->q, gimbal_manager_set_attitude->angular_velocity_x, gimbal_manager_set_attitude->angular_velocity_y, gimbal_manager_set_attitude->angular_velocity_z);
 165 }
 166
 167 /**
 168  * @brief Encode a gimbal_manager_set_attitude struct on a channel
 169  *
 170  * @param system_id ID of this system
 171  * @param component_id ID of this component (e.g. 200 for IMU)
 172  * @param chan The MAVLink channel this message will be sent over
 173  * @param msg The MAVLink message to compress the data into
 174  * @param gimbal_manager_set_attitude C-struct to read the message contents from
 175  */
 176 static inline uint16_t mavlink_msg_gimbal_manager_set_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gimbal_manager_set_attitude_t* gimbal_manager_set_attitude)
 177 {
 178     return mavlink_msg_gimbal_manager_set_attitude_pack_chan(system_id, component_id, chan, msg, gimbal_manager_set_attitude->target_system, gimbal_manager_set_attitude->target_component, gimbal_manager_set_attitude->flags, gimbal_manager_set_attitude->gimbal_device_id, gimbal_manager_set_attitude->q, gimbal_manager_set_attitude->angular_velocity_x, gimbal_manager_set_attitude->angular_velocity_y, gimbal_manager_set_attitude->angular_velocity_z);
 179 }
 180
 181 /**
 182  * @brief Send a gimbal_manager_set_attitude message
 183  * @param chan MAVLink channel to send the message
 184  *
 185  * @param target_system  System ID
 186  * @param target_component  Component ID
 187  * @param flags  High level gimbal manager flags to use.
 188  * @param gimbal_device_id  Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
 189  * @param q  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)
 190  * @param angular_velocity_x [rad/s] X component of angular velocity, positive is rolling to the right, NaN to be ignored.
 191  * @param angular_velocity_y [rad/s] Y component of angular velocity, positive is pitching up, NaN to be ignored.
 192  * @param angular_velocity_z [rad/s] Z component of angular velocity, positive is yawing to the right, NaN to be ignored.
 193  */
 194 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 195
 196 static inline void mavlink_msg_gimbal_manager_set_attitude_send(mavlink_channel_t chan, uint8_t target_system, uint8_t target_component, uint32_t flags, uint8_t gimbal_device_id, const float *q, float angular_velocity_x, float angular_velocity_y, float angular_velocity_z)
 197 {
 198 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 199     char buf[MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN];
 200     _mav_put_uint32_t(buf, 0, flags);
 201     _mav_put_float(buf, 20, angular_velocity_x);
 202     _mav_put_float(buf, 24, angular_velocity_y);
 203     _mav_put_float(buf, 28, angular_velocity_z);
 204     _mav_put_uint8_t(buf, 32, target_system);
 205     _mav_put_uint8_t(buf, 33, target_component);
 206     _mav_put_uint8_t(buf, 34, gimbal_device_id);
 207     _mav_put_float_array(buf, 4, q, 4);
 208     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE, buf, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_CRC);
 209 #else
 210     mavlink_gimbal_manager_set_attitude_t packet;
 211     packet.flags = flags;
 212     packet.angular_velocity_x = angular_velocity_x;
 213     packet.angular_velocity_y = angular_velocity_y;
 214     packet.angular_velocity_z = angular_velocity_z;
 215     packet.target_system = target_system;
 216     packet.target_component = target_component;
 217     packet.gimbal_device_id = gimbal_device_id;
 218     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_CRC);
 220 #endif
 221 }
 222
 223 /**
 224  * @brief Send a gimbal_manager_set_attitude message
 225  * @param chan MAVLink channel to send the message
 226  * @param struct The MAVLink struct to serialize
 227  */
 228 static inline void mavlink_msg_gimbal_manager_set_attitude_send_struct(mavlink_channel_t chan, const mavlink_gimbal_manager_set_attitude_t* gimbal_manager_set_attitude)
 229 {
 230 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 231     mavlink_msg_gimbal_manager_set_attitude_send(chan, gimbal_manager_set_attitude->target_system, gimbal_manager_set_attitude->target_component, gimbal_manager_set_attitude->flags, gimbal_manager_set_attitude->gimbal_device_id, gimbal_manager_set_attitude->q, gimbal_manager_set_attitude->angular_velocity_x, gimbal_manager_set_attitude->angular_velocity_y, gimbal_manager_set_attitude->angular_velocity_z);
 232 #else
 233     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE, (const char *)gimbal_manager_set_attitude, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_CRC);
 234 #endif
 235 }
 236
 237 #if MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 238 /*
 239   This varient of _send() can be used to save stack space by re-using
 240   memory from the receive buffer.  The caller provides a
 241   mavlink_message_t which is the size of a full mavlink message. This
 242   is usually the receive buffer for the channel, and allows a reply to an
 243   incoming message with minimum stack space usage.
 244  */
 245 static inline void mavlink_msg_gimbal_manager_set_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t target_system, uint8_t target_component, uint32_t flags, uint8_t gimbal_device_id, const float *q, float angular_velocity_x, float angular_velocity_y, float angular_velocity_z)
 246 {
 247 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 248     char *buf = (char *)msgbuf;
 249     _mav_put_uint32_t(buf, 0, flags);
 250     _mav_put_float(buf, 20, angular_velocity_x);
 251     _mav_put_float(buf, 24, angular_velocity_y);
 252     _mav_put_float(buf, 28, angular_velocity_z);
 253     _mav_put_uint8_t(buf, 32, target_system);
 254     _mav_put_uint8_t(buf, 33, target_component);
 255     _mav_put_uint8_t(buf, 34, gimbal_device_id);
 256     _mav_put_float_array(buf, 4, q, 4);
 257     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE, buf, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_CRC);
 258 #else
 259     mavlink_gimbal_manager_set_attitude_t *packet = (mavlink_gimbal_manager_set_attitude_t *)msgbuf;
 260     packet->flags = flags;
 261     packet->angular_velocity_x = angular_velocity_x;
 262     packet->angular_velocity_y = angular_velocity_y;
 263     packet->angular_velocity_z = angular_velocity_z;
 264     packet->target_system = target_system;
 265     packet->target_component = target_component;
 266     packet->gimbal_device_id = gimbal_device_id;
 267     mav_array_memcpy(packet->q, q, sizeof(float)*4);
 268     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_CRC);
 269 #endif
 270 }
 271 #endif
 272
 273 #endif
 274
 275 // MESSAGE GIMBAL_MANAGER_SET_ATTITUDE UNPACKING
 276
 277
 278 /**
 279  * @brief Get field target_system from gimbal_manager_set_attitude message
 280  *
 281  * @return  System ID
 282  */
 283 static inline uint8_t mavlink_msg_gimbal_manager_set_attitude_get_target_system(const mavlink_message_t* msg)
 284 {
 285     return _MAV_RETURN_uint8_t(msg,  32);
 286 }
 287
 288 /**
 289  * @brief Get field target_component from gimbal_manager_set_attitude message
 290  *
 291  * @return  Component ID
 292  */
 293 static inline uint8_t mavlink_msg_gimbal_manager_set_attitude_get_target_component(const mavlink_message_t* msg)
 294 {
 295     return _MAV_RETURN_uint8_t(msg,  33);
 296 }
 297
 298 /**
 299  * @brief Get field flags from gimbal_manager_set_attitude message
 300  *
 301  * @return  High level gimbal manager flags to use.
 302  */
 303 static inline uint32_t mavlink_msg_gimbal_manager_set_attitude_get_flags(const mavlink_message_t* msg)
 304 {
 305     return _MAV_RETURN_uint32_t(msg,  0);
 306 }
 307
 308 /**
 309  * @brief Get field gimbal_device_id from gimbal_manager_set_attitude message
 310  *
 311  * @return  Component ID of gimbal device to address (or 1-6 for non-MAVLink gimbal), 0 for all gimbal device components. Send command multiple times for more than one gimbal (but not all gimbals).
 312  */
 313 static inline uint8_t mavlink_msg_gimbal_manager_set_attitude_get_gimbal_device_id(const mavlink_message_t* msg)
 314 {
 315     return _MAV_RETURN_uint8_t(msg,  34);
 316 }
 317
 318 /**
 319  * @brief Get field q from gimbal_manager_set_attitude message
 320  *
 321  * @return  Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_MANAGER_FLAGS_YAW_LOCK is set)
 322  */
 323 static inline uint16_t mavlink_msg_gimbal_manager_set_attitude_get_q(const mavlink_message_t* msg, float *q)
 324 {
 325     return _MAV_RETURN_float_array(msg, q, 4,  4);
 326 }
 327
 328 /**
 329  * @brief Get field angular_velocity_x from gimbal_manager_set_attitude message
 330  *
 331  * @return [rad/s] X component of angular velocity, positive is rolling to the right, NaN to be ignored.
 332  */
 333 static inline float mavlink_msg_gimbal_manager_set_attitude_get_angular_velocity_x(const mavlink_message_t* msg)
 334 {
 335     return _MAV_RETURN_float(msg,  20);
 336 }
 337
 338 /**
 339  * @brief Get field angular_velocity_y from gimbal_manager_set_attitude message
 340  *
 341  * @return [rad/s] Y component of angular velocity, positive is pitching up, NaN to be ignored.
 342  */
 343 static inline float mavlink_msg_gimbal_manager_set_attitude_get_angular_velocity_y(const mavlink_message_t* msg)
 344 {
 345     return _MAV_RETURN_float(msg,  24);
 346 }
 347
 348 /**
 349  * @brief Get field angular_velocity_z from gimbal_manager_set_attitude message
 350  *
 351  * @return [rad/s] Z component of angular velocity, positive is yawing to the right, NaN to be ignored.
 352  */
 353 static inline float mavlink_msg_gimbal_manager_set_attitude_get_angular_velocity_z(const mavlink_message_t* msg)
 354 {
 355     return _MAV_RETURN_float(msg,  28);
 356 }
 357
 358 /**
 359  * @brief Decode a gimbal_manager_set_attitude message into a struct
 360  *
 361  * @param msg The message to decode
 362  * @param gimbal_manager_set_attitude C-struct to decode the message contents into
 363  */
 364 static inline void mavlink_msg_gimbal_manager_set_attitude_decode(const mavlink_message_t* msg, mavlink_gimbal_manager_set_attitude_t* gimbal_manager_set_attitude)
 365 {
 366 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 367     gimbal_manager_set_attitude->flags = mavlink_msg_gimbal_manager_set_attitude_get_flags(msg);
 368     mavlink_msg_gimbal_manager_set_attitude_get_q(msg, gimbal_manager_set_attitude->q);
 369     gimbal_manager_set_attitude->angular_velocity_x = mavlink_msg_gimbal_manager_set_attitude_get_angular_velocity_x(msg);
 370     gimbal_manager_set_attitude->angular_velocity_y = mavlink_msg_gimbal_manager_set_attitude_get_angular_velocity_y(msg);
 371     gimbal_manager_set_attitude->angular_velocity_z = mavlink_msg_gimbal_manager_set_attitude_get_angular_velocity_z(msg);
 372     gimbal_manager_set_attitude->target_system = mavlink_msg_gimbal_manager_set_attitude_get_target_system(msg);
 373     gimbal_manager_set_attitude->target_component = mavlink_msg_gimbal_manager_set_attitude_get_target_component(msg);
 374     gimbal_manager_set_attitude->gimbal_device_id = mavlink_msg_gimbal_manager_set_attitude_get_gimbal_device_id(msg);
 375 #else
 376         uint8_t len = msg->len < MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN? msg->len : MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN;
 377         memset(gimbal_manager_set_attitude, 0, MAVLINK_MSG_ID_GIMBAL_MANAGER_SET_ATTITUDE_LEN);
 378     memcpy(gimbal_manager_set_attitude, _MAV_PAYLOAD(msg), len);
 379 #endif
 380 }