lib/main/MAVLink/common/mavlink_msg_scaled_imu.h

   1 #pragma once
   2 // MESSAGE SCALED_IMU PACKING
   3
   4 #define MAVLINK_MSG_ID_SCALED_IMU 26
   5
   6
   7 typedef struct __mavlink_scaled_imu_t {
   8  uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
   9  int16_t xacc; /*< [mG] X acceleration*/
  10  int16_t yacc; /*< [mG] Y acceleration*/
  11  int16_t zacc; /*< [mG] Z acceleration*/
  12  int16_t xgyro; /*< [mrad/s] Angular speed around X axis*/
  13  int16_t ygyro; /*< [mrad/s] Angular speed around Y axis*/
  14  int16_t zgyro; /*< [mrad/s] Angular speed around Z axis*/
  15  int16_t xmag; /*< [mgauss] X Magnetic field*/
  16  int16_t ymag; /*< [mgauss] Y Magnetic field*/
  17  int16_t zmag; /*< [mgauss] Z Magnetic field*/
  18  int16_t temperature; /*< [cdegC] Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).*/
  19 } mavlink_scaled_imu_t;
  20
  21 #define MAVLINK_MSG_ID_SCALED_IMU_LEN 24
  22 #define MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN 22
  23 #define MAVLINK_MSG_ID_26_LEN 24
  24 #define MAVLINK_MSG_ID_26_MIN_LEN 22
  25
  26 #define MAVLINK_MSG_ID_SCALED_IMU_CRC 170
  27 #define MAVLINK_MSG_ID_26_CRC 170
  28
  29
  30
  31 #if MAVLINK_COMMAND_24BIT
  32 #define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
  33     26, \
  34     "SCALED_IMU", \
  35     11, \
  36     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
  37          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
  38          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
  39          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
  40          { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
  41          { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
  42          { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
  43          { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
  44          { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
  45          { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
  46          { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_scaled_imu_t, temperature) }, \
  47          } \
  48 }
  49 #else
  50 #define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
  51     "SCALED_IMU", \
  52     11, \
  53     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
  54          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
  55          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
  56          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
  57          { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
  58          { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
  59          { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
  60          { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
  61          { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
  62          { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
  63          { "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_scaled_imu_t, temperature) }, \
  64          } \
  65 }
  66 #endif
  67
  68 /**
  69  * @brief Pack a scaled_imu message
  70  * @param system_id ID of this system
  71  * @param component_id ID of this component (e.g. 200 for IMU)
  72  * @param msg The MAVLink message to compress the data into
  73  *
  74  * @param time_boot_ms [ms] Timestamp (time since system boot).
  75  * @param xacc [mG] X acceleration
  76  * @param yacc [mG] Y acceleration
  77  * @param zacc [mG] Z acceleration
  78  * @param xgyro [mrad/s] Angular speed around X axis
  79  * @param ygyro [mrad/s] Angular speed around Y axis
  80  * @param zgyro [mrad/s] Angular speed around Z axis
  81  * @param xmag [mgauss] X Magnetic field
  82  * @param ymag [mgauss] Y Magnetic field
  83  * @param zmag [mgauss] Z Magnetic field
  84  * @param temperature [cdegC] Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).
  85  * @return length of the message in bytes (excluding serial stream start sign)
  86  */
  87 static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  88                                uint32_t time_boot_ms, 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, int16_t temperature)
  89 {
  90 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  91     char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
  92     _mav_put_uint32_t(buf, 0, time_boot_ms);
  93     _mav_put_int16_t(buf, 4, xacc);
  94     _mav_put_int16_t(buf, 6, yacc);
  95     _mav_put_int16_t(buf, 8, zacc);
  96     _mav_put_int16_t(buf, 10, xgyro);
  97     _mav_put_int16_t(buf, 12, ygyro);
  98     _mav_put_int16_t(buf, 14, zgyro);
  99     _mav_put_int16_t(buf, 16, xmag);
 100     _mav_put_int16_t(buf, 18, ymag);
 101     _mav_put_int16_t(buf, 20, zmag);
 102     _mav_put_int16_t(buf, 22, temperature);
 103
 104         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
 105 #else
 106     mavlink_scaled_imu_t packet;
 107     packet.time_boot_ms = time_boot_ms;
 108     packet.xacc = xacc;
 109     packet.yacc = yacc;
 110     packet.zacc = zacc;
 111     packet.xgyro = xgyro;
 112     packet.ygyro = ygyro;
 113     packet.zgyro = zgyro;
 114     packet.xmag = xmag;
 115     packet.ymag = ymag;
 116     packet.zmag = zmag;
 117     packet.temperature = temperature;
 118
 119         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
 120 #endif
 121
 122     msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
 123     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
 124 }
 125
 126 /**
 127  * @brief Pack a scaled_imu message on a channel
 128  * @param system_id ID of this system
 129  * @param component_id ID of this component (e.g. 200 for IMU)
 130  * @param chan The MAVLink channel this message will be sent over
 131  * @param msg The MAVLink message to compress the data into
 132  * @param time_boot_ms [ms] Timestamp (time since system boot).
 133  * @param xacc [mG] X acceleration
 134  * @param yacc [mG] Y acceleration
 135  * @param zacc [mG] Z acceleration
 136  * @param xgyro [mrad/s] Angular speed around X axis
 137  * @param ygyro [mrad/s] Angular speed around Y axis
 138  * @param zgyro [mrad/s] Angular speed around Z axis
 139  * @param xmag [mgauss] X Magnetic field
 140  * @param ymag [mgauss] Y Magnetic field
 141  * @param zmag [mgauss] Z Magnetic field
 142  * @param temperature [cdegC] Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).
 143  * @return length of the message in bytes (excluding serial stream start sign)
 144  */
 145 static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 146                                mavlink_message_t* msg,
 147                                    uint32_t time_boot_ms,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,int16_t temperature)
 148 {
 149 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 150     char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
 151     _mav_put_uint32_t(buf, 0, time_boot_ms);
 152     _mav_put_int16_t(buf, 4, xacc);
 153     _mav_put_int16_t(buf, 6, yacc);
 154     _mav_put_int16_t(buf, 8, zacc);
 155     _mav_put_int16_t(buf, 10, xgyro);
 156     _mav_put_int16_t(buf, 12, ygyro);
 157     _mav_put_int16_t(buf, 14, zgyro);
 158     _mav_put_int16_t(buf, 16, xmag);
 159     _mav_put_int16_t(buf, 18, ymag);
 160     _mav_put_int16_t(buf, 20, zmag);
 161     _mav_put_int16_t(buf, 22, temperature);
 162
 163         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
 164 #else
 165     mavlink_scaled_imu_t packet;
 166     packet.time_boot_ms = time_boot_ms;
 167     packet.xacc = xacc;
 168     packet.yacc = yacc;
 169     packet.zacc = zacc;
 170     packet.xgyro = xgyro;
 171     packet.ygyro = ygyro;
 172     packet.zgyro = zgyro;
 173     packet.xmag = xmag;
 174     packet.ymag = ymag;
 175     packet.zmag = zmag;
 176     packet.temperature = temperature;
 177
 178         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
 179 #endif
 180
 181     msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
 182     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
 183 }
 184
 185 /**
 186  * @brief Encode a scaled_imu struct
 187  *
 188  * @param system_id ID of this system
 189  * @param component_id ID of this component (e.g. 200 for IMU)
 190  * @param msg The MAVLink message to compress the data into
 191  * @param scaled_imu C-struct to read the message contents from
 192  */
 193 static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
 194 {
 195     return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag, scaled_imu->temperature);
 196 }
 197
 198 /**
 199  * @brief Encode a scaled_imu struct on a channel
 200  *
 201  * @param system_id ID of this system
 202  * @param component_id ID of this component (e.g. 200 for IMU)
 203  * @param chan The MAVLink channel this message will be sent over
 204  * @param msg The MAVLink message to compress the data into
 205  * @param scaled_imu C-struct to read the message contents from
 206  */
 207 static inline uint16_t mavlink_msg_scaled_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
 208 {
 209     return mavlink_msg_scaled_imu_pack_chan(system_id, component_id, chan, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag, scaled_imu->temperature);
 210 }
 211
 212 /**
 213  * @brief Send a scaled_imu message
 214  * @param chan MAVLink channel to send the message
 215  *
 216  * @param time_boot_ms [ms] Timestamp (time since system boot).
 217  * @param xacc [mG] X acceleration
 218  * @param yacc [mG] Y acceleration
 219  * @param zacc [mG] Z acceleration
 220  * @param xgyro [mrad/s] Angular speed around X axis
 221  * @param ygyro [mrad/s] Angular speed around Y axis
 222  * @param zgyro [mrad/s] Angular speed around Z axis
 223  * @param xmag [mgauss] X Magnetic field
 224  * @param ymag [mgauss] Y Magnetic field
 225  * @param zmag [mgauss] Z Magnetic field
 226  * @param temperature [cdegC] Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).
 227  */
 228 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 229
 230 static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t time_boot_ms, 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, int16_t temperature)
 231 {
 232 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 233     char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
 234     _mav_put_uint32_t(buf, 0, time_boot_ms);
 235     _mav_put_int16_t(buf, 4, xacc);
 236     _mav_put_int16_t(buf, 6, yacc);
 237     _mav_put_int16_t(buf, 8, zacc);
 238     _mav_put_int16_t(buf, 10, xgyro);
 239     _mav_put_int16_t(buf, 12, ygyro);
 240     _mav_put_int16_t(buf, 14, zgyro);
 241     _mav_put_int16_t(buf, 16, xmag);
 242     _mav_put_int16_t(buf, 18, ymag);
 243     _mav_put_int16_t(buf, 20, zmag);
 244     _mav_put_int16_t(buf, 22, temperature);
 245
 246     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
 247 #else
 248     mavlink_scaled_imu_t packet;
 249     packet.time_boot_ms = time_boot_ms;
 250     packet.xacc = xacc;
 251     packet.yacc = yacc;
 252     packet.zacc = zacc;
 253     packet.xgyro = xgyro;
 254     packet.ygyro = ygyro;
 255     packet.zgyro = zgyro;
 256     packet.xmag = xmag;
 257     packet.ymag = ymag;
 258     packet.zmag = zmag;
 259     packet.temperature = temperature;
 260
 261     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
 262 #endif
 263 }
 264
 265 /**
 266  * @brief Send a scaled_imu message
 267  * @param chan MAVLink channel to send the message
 268  * @param struct The MAVLink struct to serialize
 269  */
 270 static inline void mavlink_msg_scaled_imu_send_struct(mavlink_channel_t chan, const mavlink_scaled_imu_t* scaled_imu)
 271 {
 272 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 273     mavlink_msg_scaled_imu_send(chan, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag, scaled_imu->temperature);
 274 #else
 275     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)scaled_imu, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
 276 #endif
 277 }
 278
 279 #if MAVLINK_MSG_ID_SCALED_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 280 /*
 281   This varient of _send() can be used to save stack space by re-using
 282   memory from the receive buffer.  The caller provides a
 283   mavlink_message_t which is the size of a full mavlink message. This
 284   is usually the receive buffer for the channel, and allows a reply to an
 285   incoming message with minimum stack space usage.
 286  */
 287 static inline void mavlink_msg_scaled_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, 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, int16_t temperature)
 288 {
 289 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 290     char *buf = (char *)msgbuf;
 291     _mav_put_uint32_t(buf, 0, time_boot_ms);
 292     _mav_put_int16_t(buf, 4, xacc);
 293     _mav_put_int16_t(buf, 6, yacc);
 294     _mav_put_int16_t(buf, 8, zacc);
 295     _mav_put_int16_t(buf, 10, xgyro);
 296     _mav_put_int16_t(buf, 12, ygyro);
 297     _mav_put_int16_t(buf, 14, zgyro);
 298     _mav_put_int16_t(buf, 16, xmag);
 299     _mav_put_int16_t(buf, 18, ymag);
 300     _mav_put_int16_t(buf, 20, zmag);
 301     _mav_put_int16_t(buf, 22, temperature);
 302
 303     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
 304 #else
 305     mavlink_scaled_imu_t *packet = (mavlink_scaled_imu_t *)msgbuf;
 306     packet->time_boot_ms = time_boot_ms;
 307     packet->xacc = xacc;
 308     packet->yacc = yacc;
 309     packet->zacc = zacc;
 310     packet->xgyro = xgyro;
 311     packet->ygyro = ygyro;
 312     packet->zgyro = zgyro;
 313     packet->xmag = xmag;
 314     packet->ymag = ymag;
 315     packet->zmag = zmag;
 316     packet->temperature = temperature;
 317
 318     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
 319 #endif
 320 }
 321 #endif
 322
 323 #endif
 324
 325 // MESSAGE SCALED_IMU UNPACKING
 326
 327
 328 /**
 329  * @brief Get field time_boot_ms from scaled_imu message
 330  *
 331  * @return [ms] Timestamp (time since system boot).
 332  */
 333 static inline uint32_t mavlink_msg_scaled_imu_get_time_boot_ms(const mavlink_message_t* msg)
 334 {
 335     return _MAV_RETURN_uint32_t(msg,  0);
 336 }
 337
 338 /**
 339  * @brief Get field xacc from scaled_imu message
 340  *
 341  * @return [mG] X acceleration
 342  */
 343 static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg)
 344 {
 345     return _MAV_RETURN_int16_t(msg,  4);
 346 }
 347
 348 /**
 349  * @brief Get field yacc from scaled_imu message
 350  *
 351  * @return [mG] Y acceleration
 352  */
 353 static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg)
 354 {
 355     return _MAV_RETURN_int16_t(msg,  6);
 356 }
 357
 358 /**
 359  * @brief Get field zacc from scaled_imu message
 360  *
 361  * @return [mG] Z acceleration
 362  */
 363 static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg)
 364 {
 365     return _MAV_RETURN_int16_t(msg,  8);
 366 }
 367
 368 /**
 369  * @brief Get field xgyro from scaled_imu message
 370  *
 371  * @return [mrad/s] Angular speed around X axis
 372  */
 373 static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg)
 374 {
 375     return _MAV_RETURN_int16_t(msg,  10);
 376 }
 377
 378 /**
 379  * @brief Get field ygyro from scaled_imu message
 380  *
 381  * @return [mrad/s] Angular speed around Y axis
 382  */
 383 static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg)
 384 {
 385     return _MAV_RETURN_int16_t(msg,  12);
 386 }
 387
 388 /**
 389  * @brief Get field zgyro from scaled_imu message
 390  *
 391  * @return [mrad/s] Angular speed around Z axis
 392  */
 393 static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg)
 394 {
 395     return _MAV_RETURN_int16_t(msg,  14);
 396 }
 397
 398 /**
 399  * @brief Get field xmag from scaled_imu message
 400  *
 401  * @return [mgauss] X Magnetic field
 402  */
 403 static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg)
 404 {
 405     return _MAV_RETURN_int16_t(msg,  16);
 406 }
 407
 408 /**
 409  * @brief Get field ymag from scaled_imu message
 410  *
 411  * @return [mgauss] Y Magnetic field
 412  */
 413 static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg)
 414 {
 415     return _MAV_RETURN_int16_t(msg,  18);
 416 }
 417
 418 /**
 419  * @brief Get field zmag from scaled_imu message
 420  *
 421  * @return [mgauss] Z Magnetic field
 422  */
 423 static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg)
 424 {
 425     return _MAV_RETURN_int16_t(msg,  20);
 426 }
 427
 428 /**
 429  * @brief Get field temperature from scaled_imu message
 430  *
 431  * @return [cdegC] Temperature, 0: IMU does not provide temperature values. If the IMU is at 0C it must send 1 (0.01C).
 432  */
 433 static inline int16_t mavlink_msg_scaled_imu_get_temperature(const mavlink_message_t* msg)
 434 {
 435     return _MAV_RETURN_int16_t(msg,  22);
 436 }
 437
 438 /**
 439  * @brief Decode a scaled_imu message into a struct
 440  *
 441  * @param msg The message to decode
 442  * @param scaled_imu C-struct to decode the message contents into
 443  */
 444 static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu)
 445 {
 446 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 447     scaled_imu->time_boot_ms = mavlink_msg_scaled_imu_get_time_boot_ms(msg);
 448     scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg);
 449     scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg);
 450     scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg);
 451     scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg);
 452     scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg);
 453     scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg);
 454     scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg);
 455     scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg);
 456     scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg);
 457     scaled_imu->temperature = mavlink_msg_scaled_imu_get_temperature(msg);
 458 #else
 459         uint8_t len = msg->len < MAVLINK_MSG_ID_SCALED_IMU_LEN? msg->len : MAVLINK_MSG_ID_SCALED_IMU_LEN;
 460         memset(scaled_imu, 0, MAVLINK_MSG_ID_SCALED_IMU_LEN);
 461     memcpy(scaled_imu, _MAV_PAYLOAD(msg), len);
 462 #endif
 463 }