lib/main/MAVLink/common/mavlink_msg_hil_sensor.h

   1 #pragma once
   2 // MESSAGE HIL_SENSOR PACKING
   3
   4 #define MAVLINK_MSG_ID_HIL_SENSOR 107
   5
   6
   7 typedef struct __mavlink_hil_sensor_t {
   8  uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
   9  float xacc; /*< [m/s/s] X acceleration*/
  10  float yacc; /*< [m/s/s] Y acceleration*/
  11  float zacc; /*< [m/s/s] Z acceleration*/
  12  float xgyro; /*< [rad/s] Angular speed around X axis in body frame*/
  13  float ygyro; /*< [rad/s] Angular speed around Y axis in body frame*/
  14  float zgyro; /*< [rad/s] Angular speed around Z axis in body frame*/
  15  float xmag; /*< [gauss] X Magnetic field*/
  16  float ymag; /*< [gauss] Y Magnetic field*/
  17  float zmag; /*< [gauss] Z Magnetic field*/
  18  float abs_pressure; /*< [hPa] Absolute pressure*/
  19  float diff_pressure; /*< [hPa] Differential pressure (airspeed)*/
  20  float pressure_alt; /*<  Altitude calculated from pressure*/
  21  float temperature; /*< [degC] Temperature*/
  22  uint32_t fields_updated; /*<  Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.*/
  23  uint8_t id; /*<  Sensor ID (zero indexed). Used for multiple sensor inputs*/
  24 } mavlink_hil_sensor_t;
  25
  26 #define MAVLINK_MSG_ID_HIL_SENSOR_LEN 65
  27 #define MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN 64
  28 #define MAVLINK_MSG_ID_107_LEN 65
  29 #define MAVLINK_MSG_ID_107_MIN_LEN 64
  30
  31 #define MAVLINK_MSG_ID_HIL_SENSOR_CRC 108
  32 #define MAVLINK_MSG_ID_107_CRC 108
  33
  34
  35
  36 #if MAVLINK_COMMAND_24BIT
  37 #define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \
  38     107, \
  39     "HIL_SENSOR", \
  40     16, \
  41     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
  42          { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
  43          { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
  44          { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
  45          { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
  46          { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
  47          { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
  48          { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
  49          { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
  50          { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
  51          { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
  52          { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
  53          { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
  54          { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
  55          { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \
  56          { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 64, offsetof(mavlink_hil_sensor_t, id) }, \
  57          } \
  58 }
  59 #else
  60 #define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \
  61     "HIL_SENSOR", \
  62     16, \
  63     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
  64          { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
  65          { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
  66          { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
  67          { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
  68          { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
  69          { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
  70          { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
  71          { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
  72          { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
  73          { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
  74          { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
  75          { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
  76          { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
  77          { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \
  78          { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 64, offsetof(mavlink_hil_sensor_t, id) }, \
  79          } \
  80 }
  81 #endif
  82
  83 /**
  84  * @brief Pack a hil_sensor message
  85  * @param system_id ID of this system
  86  * @param component_id ID of this component (e.g. 200 for IMU)
  87  * @param msg The MAVLink message to compress the data into
  88  *
  89  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
  90  * @param xacc [m/s/s] X acceleration
  91  * @param yacc [m/s/s] Y acceleration
  92  * @param zacc [m/s/s] Z acceleration
  93  * @param xgyro [rad/s] Angular speed around X axis in body frame
  94  * @param ygyro [rad/s] Angular speed around Y axis in body frame
  95  * @param zgyro [rad/s] Angular speed around Z axis in body frame
  96  * @param xmag [gauss] X Magnetic field
  97  * @param ymag [gauss] Y Magnetic field
  98  * @param zmag [gauss] Z Magnetic field
  99  * @param abs_pressure [hPa] Absolute pressure
 100  * @param diff_pressure [hPa] Differential pressure (airspeed)
 101  * @param pressure_alt  Altitude calculated from pressure
 102  * @param temperature [degC] Temperature
 103  * @param fields_updated  Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
 104  * @param id  Sensor ID (zero indexed). Used for multiple sensor inputs
 105  * @return length of the message in bytes (excluding serial stream start sign)
 106  */
 107 static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 108                                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, uint32_t fields_updated, uint8_t id)
 109 {
 110 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 111     char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
 112     _mav_put_uint64_t(buf, 0, time_usec);
 113     _mav_put_float(buf, 8, xacc);
 114     _mav_put_float(buf, 12, yacc);
 115     _mav_put_float(buf, 16, zacc);
 116     _mav_put_float(buf, 20, xgyro);
 117     _mav_put_float(buf, 24, ygyro);
 118     _mav_put_float(buf, 28, zgyro);
 119     _mav_put_float(buf, 32, xmag);
 120     _mav_put_float(buf, 36, ymag);
 121     _mav_put_float(buf, 40, zmag);
 122     _mav_put_float(buf, 44, abs_pressure);
 123     _mav_put_float(buf, 48, diff_pressure);
 124     _mav_put_float(buf, 52, pressure_alt);
 125     _mav_put_float(buf, 56, temperature);
 126     _mav_put_uint32_t(buf, 60, fields_updated);
 127     _mav_put_uint8_t(buf, 64, id);
 128
 129         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
 130 #else
 131     mavlink_hil_sensor_t packet;
 132     packet.time_usec = time_usec;
 133     packet.xacc = xacc;
 134     packet.yacc = yacc;
 135     packet.zacc = zacc;
 136     packet.xgyro = xgyro;
 137     packet.ygyro = ygyro;
 138     packet.zgyro = zgyro;
 139     packet.xmag = xmag;
 140     packet.ymag = ymag;
 141     packet.zmag = zmag;
 142     packet.abs_pressure = abs_pressure;
 143     packet.diff_pressure = diff_pressure;
 144     packet.pressure_alt = pressure_alt;
 145     packet.temperature = temperature;
 146     packet.fields_updated = fields_updated;
 147     packet.id = id;
 148
 149         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
 150 #endif
 151
 152     msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
 153     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
 154 }
 155
 156 /**
 157  * @brief Pack a hil_sensor message on a channel
 158  * @param system_id ID of this system
 159  * @param component_id ID of this component (e.g. 200 for IMU)
 160  * @param chan The MAVLink channel this message will be sent over
 161  * @param msg The MAVLink message to compress the data into
 162  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 163  * @param xacc [m/s/s] X acceleration
 164  * @param yacc [m/s/s] Y acceleration
 165  * @param zacc [m/s/s] Z acceleration
 166  * @param xgyro [rad/s] Angular speed around X axis in body frame
 167  * @param ygyro [rad/s] Angular speed around Y axis in body frame
 168  * @param zgyro [rad/s] Angular speed around Z axis in body frame
 169  * @param xmag [gauss] X Magnetic field
 170  * @param ymag [gauss] Y Magnetic field
 171  * @param zmag [gauss] Z Magnetic field
 172  * @param abs_pressure [hPa] Absolute pressure
 173  * @param diff_pressure [hPa] Differential pressure (airspeed)
 174  * @param pressure_alt  Altitude calculated from pressure
 175  * @param temperature [degC] Temperature
 176  * @param fields_updated  Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
 177  * @param id  Sensor ID (zero indexed). Used for multiple sensor inputs
 178  * @return length of the message in bytes (excluding serial stream start sign)
 179  */
 180 static inline uint16_t mavlink_msg_hil_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 181                                mavlink_message_t* msg,
 182                                    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,uint32_t fields_updated,uint8_t id)
 183 {
 184 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 185     char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
 186     _mav_put_uint64_t(buf, 0, time_usec);
 187     _mav_put_float(buf, 8, xacc);
 188     _mav_put_float(buf, 12, yacc);
 189     _mav_put_float(buf, 16, zacc);
 190     _mav_put_float(buf, 20, xgyro);
 191     _mav_put_float(buf, 24, ygyro);
 192     _mav_put_float(buf, 28, zgyro);
 193     _mav_put_float(buf, 32, xmag);
 194     _mav_put_float(buf, 36, ymag);
 195     _mav_put_float(buf, 40, zmag);
 196     _mav_put_float(buf, 44, abs_pressure);
 197     _mav_put_float(buf, 48, diff_pressure);
 198     _mav_put_float(buf, 52, pressure_alt);
 199     _mav_put_float(buf, 56, temperature);
 200     _mav_put_uint32_t(buf, 60, fields_updated);
 201     _mav_put_uint8_t(buf, 64, id);
 202
 203         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
 204 #else
 205     mavlink_hil_sensor_t packet;
 206     packet.time_usec = time_usec;
 207     packet.xacc = xacc;
 208     packet.yacc = yacc;
 209     packet.zacc = zacc;
 210     packet.xgyro = xgyro;
 211     packet.ygyro = ygyro;
 212     packet.zgyro = zgyro;
 213     packet.xmag = xmag;
 214     packet.ymag = ymag;
 215     packet.zmag = zmag;
 216     packet.abs_pressure = abs_pressure;
 217     packet.diff_pressure = diff_pressure;
 218     packet.pressure_alt = pressure_alt;
 219     packet.temperature = temperature;
 220     packet.fields_updated = fields_updated;
 221     packet.id = id;
 222
 223         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
 224 #endif
 225
 226     msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
 227     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
 228 }
 229
 230 /**
 231  * @brief Encode a hil_sensor struct
 232  *
 233  * @param system_id ID of this system
 234  * @param component_id ID of this component (e.g. 200 for IMU)
 235  * @param msg The MAVLink message to compress the data into
 236  * @param hil_sensor C-struct to read the message contents from
 237  */
 238 static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
 239 {
 240     return mavlink_msg_hil_sensor_pack(system_id, component_id, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated, hil_sensor->id);
 241 }
 242
 243 /**
 244  * @brief Encode a hil_sensor struct on a channel
 245  *
 246  * @param system_id ID of this system
 247  * @param component_id ID of this component (e.g. 200 for IMU)
 248  * @param chan The MAVLink channel this message will be sent over
 249  * @param msg The MAVLink message to compress the data into
 250  * @param hil_sensor C-struct to read the message contents from
 251  */
 252 static inline uint16_t mavlink_msg_hil_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
 253 {
 254     return mavlink_msg_hil_sensor_pack_chan(system_id, component_id, chan, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated, hil_sensor->id);
 255 }
 256
 257 /**
 258  * @brief Send a hil_sensor message
 259  * @param chan MAVLink channel to send the message
 260  *
 261  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 262  * @param xacc [m/s/s] X acceleration
 263  * @param yacc [m/s/s] Y acceleration
 264  * @param zacc [m/s/s] Z acceleration
 265  * @param xgyro [rad/s] Angular speed around X axis in body frame
 266  * @param ygyro [rad/s] Angular speed around Y axis in body frame
 267  * @param zgyro [rad/s] Angular speed around Z axis in body frame
 268  * @param xmag [gauss] X Magnetic field
 269  * @param ymag [gauss] Y Magnetic field
 270  * @param zmag [gauss] Z Magnetic field
 271  * @param abs_pressure [hPa] Absolute pressure
 272  * @param diff_pressure [hPa] Differential pressure (airspeed)
 273  * @param pressure_alt  Altitude calculated from pressure
 274  * @param temperature [degC] Temperature
 275  * @param fields_updated  Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
 276  * @param id  Sensor ID (zero indexed). Used for multiple sensor inputs
 277  */
 278 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 279
 280 static inline void mavlink_msg_hil_sensor_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, uint32_t fields_updated, uint8_t id)
 281 {
 282 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 283     char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN];
 284     _mav_put_uint64_t(buf, 0, time_usec);
 285     _mav_put_float(buf, 8, xacc);
 286     _mav_put_float(buf, 12, yacc);
 287     _mav_put_float(buf, 16, zacc);
 288     _mav_put_float(buf, 20, xgyro);
 289     _mav_put_float(buf, 24, ygyro);
 290     _mav_put_float(buf, 28, zgyro);
 291     _mav_put_float(buf, 32, xmag);
 292     _mav_put_float(buf, 36, ymag);
 293     _mav_put_float(buf, 40, zmag);
 294     _mav_put_float(buf, 44, abs_pressure);
 295     _mav_put_float(buf, 48, diff_pressure);
 296     _mav_put_float(buf, 52, pressure_alt);
 297     _mav_put_float(buf, 56, temperature);
 298     _mav_put_uint32_t(buf, 60, fields_updated);
 299     _mav_put_uint8_t(buf, 64, id);
 300
 301     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
 302 #else
 303     mavlink_hil_sensor_t packet;
 304     packet.time_usec = time_usec;
 305     packet.xacc = xacc;
 306     packet.yacc = yacc;
 307     packet.zacc = zacc;
 308     packet.xgyro = xgyro;
 309     packet.ygyro = ygyro;
 310     packet.zgyro = zgyro;
 311     packet.xmag = xmag;
 312     packet.ymag = ymag;
 313     packet.zmag = zmag;
 314     packet.abs_pressure = abs_pressure;
 315     packet.diff_pressure = diff_pressure;
 316     packet.pressure_alt = pressure_alt;
 317     packet.temperature = temperature;
 318     packet.fields_updated = fields_updated;
 319     packet.id = id;
 320
 321     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
 322 #endif
 323 }
 324
 325 /**
 326  * @brief Send a hil_sensor message
 327  * @param chan MAVLink channel to send the message
 328  * @param struct The MAVLink struct to serialize
 329  */
 330 static inline void mavlink_msg_hil_sensor_send_struct(mavlink_channel_t chan, const mavlink_hil_sensor_t* hil_sensor)
 331 {
 332 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 333     mavlink_msg_hil_sensor_send(chan, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated, hil_sensor->id);
 334 #else
 335     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)hil_sensor, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
 336 #endif
 337 }
 338
 339 #if MAVLINK_MSG_ID_HIL_SENSOR_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 340 /*
 341   This varient of _send() can be used to save stack space by re-using
 342   memory from the receive buffer.  The caller provides a
 343   mavlink_message_t which is the size of a full mavlink message. This
 344   is usually the receive buffer for the channel, and allows a reply to an
 345   incoming message with minimum stack space usage.
 346  */
 347 static inline void mavlink_msg_hil_sensor_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, uint32_t fields_updated, uint8_t id)
 348 {
 349 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 350     char *buf = (char *)msgbuf;
 351     _mav_put_uint64_t(buf, 0, time_usec);
 352     _mav_put_float(buf, 8, xacc);
 353     _mav_put_float(buf, 12, yacc);
 354     _mav_put_float(buf, 16, zacc);
 355     _mav_put_float(buf, 20, xgyro);
 356     _mav_put_float(buf, 24, ygyro);
 357     _mav_put_float(buf, 28, zgyro);
 358     _mav_put_float(buf, 32, xmag);
 359     _mav_put_float(buf, 36, ymag);
 360     _mav_put_float(buf, 40, zmag);
 361     _mav_put_float(buf, 44, abs_pressure);
 362     _mav_put_float(buf, 48, diff_pressure);
 363     _mav_put_float(buf, 52, pressure_alt);
 364     _mav_put_float(buf, 56, temperature);
 365     _mav_put_uint32_t(buf, 60, fields_updated);
 366     _mav_put_uint8_t(buf, 64, id);
 367
 368     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
 369 #else
 370     mavlink_hil_sensor_t *packet = (mavlink_hil_sensor_t *)msgbuf;
 371     packet->time_usec = time_usec;
 372     packet->xacc = xacc;
 373     packet->yacc = yacc;
 374     packet->zacc = zacc;
 375     packet->xgyro = xgyro;
 376     packet->ygyro = ygyro;
 377     packet->zgyro = zgyro;
 378     packet->xmag = xmag;
 379     packet->ymag = ymag;
 380     packet->zmag = zmag;
 381     packet->abs_pressure = abs_pressure;
 382     packet->diff_pressure = diff_pressure;
 383     packet->pressure_alt = pressure_alt;
 384     packet->temperature = temperature;
 385     packet->fields_updated = fields_updated;
 386     packet->id = id;
 387
 388     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)packet, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
 389 #endif
 390 }
 391 #endif
 392
 393 #endif
 394
 395 // MESSAGE HIL_SENSOR UNPACKING
 396
 397
 398 /**
 399  * @brief Get field time_usec from hil_sensor message
 400  *
 401  * @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 402  */
 403 static inline uint64_t mavlink_msg_hil_sensor_get_time_usec(const mavlink_message_t* msg)
 404 {
 405     return _MAV_RETURN_uint64_t(msg,  0);
 406 }
 407
 408 /**
 409  * @brief Get field xacc from hil_sensor message
 410  *
 411  * @return [m/s/s] X acceleration
 412  */
 413 static inline float mavlink_msg_hil_sensor_get_xacc(const mavlink_message_t* msg)
 414 {
 415     return _MAV_RETURN_float(msg,  8);
 416 }
 417
 418 /**
 419  * @brief Get field yacc from hil_sensor message
 420  *
 421  * @return [m/s/s] Y acceleration
 422  */
 423 static inline float mavlink_msg_hil_sensor_get_yacc(const mavlink_message_t* msg)
 424 {
 425     return _MAV_RETURN_float(msg,  12);
 426 }
 427
 428 /**
 429  * @brief Get field zacc from hil_sensor message
 430  *
 431  * @return [m/s/s] Z acceleration
 432  */
 433 static inline float mavlink_msg_hil_sensor_get_zacc(const mavlink_message_t* msg)
 434 {
 435     return _MAV_RETURN_float(msg,  16);
 436 }
 437
 438 /**
 439  * @brief Get field xgyro from hil_sensor message
 440  *
 441  * @return [rad/s] Angular speed around X axis in body frame
 442  */
 443 static inline float mavlink_msg_hil_sensor_get_xgyro(const mavlink_message_t* msg)
 444 {
 445     return _MAV_RETURN_float(msg,  20);
 446 }
 447
 448 /**
 449  * @brief Get field ygyro from hil_sensor message
 450  *
 451  * @return [rad/s] Angular speed around Y axis in body frame
 452  */
 453 static inline float mavlink_msg_hil_sensor_get_ygyro(const mavlink_message_t* msg)
 454 {
 455     return _MAV_RETURN_float(msg,  24);
 456 }
 457
 458 /**
 459  * @brief Get field zgyro from hil_sensor message
 460  *
 461  * @return [rad/s] Angular speed around Z axis in body frame
 462  */
 463 static inline float mavlink_msg_hil_sensor_get_zgyro(const mavlink_message_t* msg)
 464 {
 465     return _MAV_RETURN_float(msg,  28);
 466 }
 467
 468 /**
 469  * @brief Get field xmag from hil_sensor message
 470  *
 471  * @return [gauss] X Magnetic field
 472  */
 473 static inline float mavlink_msg_hil_sensor_get_xmag(const mavlink_message_t* msg)
 474 {
 475     return _MAV_RETURN_float(msg,  32);
 476 }
 477
 478 /**
 479  * @brief Get field ymag from hil_sensor message
 480  *
 481  * @return [gauss] Y Magnetic field
 482  */
 483 static inline float mavlink_msg_hil_sensor_get_ymag(const mavlink_message_t* msg)
 484 {
 485     return _MAV_RETURN_float(msg,  36);
 486 }
 487
 488 /**
 489  * @brief Get field zmag from hil_sensor message
 490  *
 491  * @return [gauss] Z Magnetic field
 492  */
 493 static inline float mavlink_msg_hil_sensor_get_zmag(const mavlink_message_t* msg)
 494 {
 495     return _MAV_RETURN_float(msg,  40);
 496 }
 497
 498 /**
 499  * @brief Get field abs_pressure from hil_sensor message
 500  *
 501  * @return [hPa] Absolute pressure
 502  */
 503 static inline float mavlink_msg_hil_sensor_get_abs_pressure(const mavlink_message_t* msg)
 504 {
 505     return _MAV_RETURN_float(msg,  44);
 506 }
 507
 508 /**
 509  * @brief Get field diff_pressure from hil_sensor message
 510  *
 511  * @return [hPa] Differential pressure (airspeed)
 512  */
 513 static inline float mavlink_msg_hil_sensor_get_diff_pressure(const mavlink_message_t* msg)
 514 {
 515     return _MAV_RETURN_float(msg,  48);
 516 }
 517
 518 /**
 519  * @brief Get field pressure_alt from hil_sensor message
 520  *
 521  * @return  Altitude calculated from pressure
 522  */
 523 static inline float mavlink_msg_hil_sensor_get_pressure_alt(const mavlink_message_t* msg)
 524 {
 525     return _MAV_RETURN_float(msg,  52);
 526 }
 527
 528 /**
 529  * @brief Get field temperature from hil_sensor message
 530  *
 531  * @return [degC] Temperature
 532  */
 533 static inline float mavlink_msg_hil_sensor_get_temperature(const mavlink_message_t* msg)
 534 {
 535     return _MAV_RETURN_float(msg,  56);
 536 }
 537
 538 /**
 539  * @brief Get field fields_updated from hil_sensor message
 540  *
 541  * @return  Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
 542  */
 543 static inline uint32_t mavlink_msg_hil_sensor_get_fields_updated(const mavlink_message_t* msg)
 544 {
 545     return _MAV_RETURN_uint32_t(msg,  60);
 546 }
 547
 548 /**
 549  * @brief Get field id from hil_sensor message
 550  *
 551  * @return  Sensor ID (zero indexed). Used for multiple sensor inputs
 552  */
 553 static inline uint8_t mavlink_msg_hil_sensor_get_id(const mavlink_message_t* msg)
 554 {
 555     return _MAV_RETURN_uint8_t(msg,  64);
 556 }
 557
 558 /**
 559  * @brief Decode a hil_sensor message into a struct
 560  *
 561  * @param msg The message to decode
 562  * @param hil_sensor C-struct to decode the message contents into
 563  */
 564 static inline void mavlink_msg_hil_sensor_decode(const mavlink_message_t* msg, mavlink_hil_sensor_t* hil_sensor)
 565 {
 566 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 567     hil_sensor->time_usec = mavlink_msg_hil_sensor_get_time_usec(msg);
 568     hil_sensor->xacc = mavlink_msg_hil_sensor_get_xacc(msg);
 569     hil_sensor->yacc = mavlink_msg_hil_sensor_get_yacc(msg);
 570     hil_sensor->zacc = mavlink_msg_hil_sensor_get_zacc(msg);
 571     hil_sensor->xgyro = mavlink_msg_hil_sensor_get_xgyro(msg);
 572     hil_sensor->ygyro = mavlink_msg_hil_sensor_get_ygyro(msg);
 573     hil_sensor->zgyro = mavlink_msg_hil_sensor_get_zgyro(msg);
 574     hil_sensor->xmag = mavlink_msg_hil_sensor_get_xmag(msg);
 575     hil_sensor->ymag = mavlink_msg_hil_sensor_get_ymag(msg);
 576     hil_sensor->zmag = mavlink_msg_hil_sensor_get_zmag(msg);
 577     hil_sensor->abs_pressure = mavlink_msg_hil_sensor_get_abs_pressure(msg);
 578     hil_sensor->diff_pressure = mavlink_msg_hil_sensor_get_diff_pressure(msg);
 579     hil_sensor->pressure_alt = mavlink_msg_hil_sensor_get_pressure_alt(msg);
 580     hil_sensor->temperature = mavlink_msg_hil_sensor_get_temperature(msg);
 581     hil_sensor->fields_updated = mavlink_msg_hil_sensor_get_fields_updated(msg);
 582     hil_sensor->id = mavlink_msg_hil_sensor_get_id(msg);
 583 #else
 584         uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_SENSOR_LEN? msg->len : MAVLINK_MSG_ID_HIL_SENSOR_LEN;
 585         memset(hil_sensor, 0, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
 586     memcpy(hil_sensor, _MAV_PAYLOAD(msg), len);
 587 #endif
 588 }