lib/main/MAVLink/common/mavlink_msg_hil_state_quaternion.h

   1 #pragma once
   2 // MESSAGE HIL_STATE_QUATERNION PACKING
   3
   4 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION 115
   5
   6
   7 typedef struct __mavlink_hil_state_quaternion_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 attitude_quaternion[4]; /*<  Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)*/
  10  float rollspeed; /*< [rad/s] Body frame roll / phi angular speed*/
  11  float pitchspeed; /*< [rad/s] Body frame pitch / theta angular speed*/
  12  float yawspeed; /*< [rad/s] Body frame yaw / psi angular speed*/
  13  int32_t lat; /*< [degE7] Latitude*/
  14  int32_t lon; /*< [degE7] Longitude*/
  15  int32_t alt; /*< [mm] Altitude*/
  16  int16_t vx; /*< [cm/s] Ground X Speed (Latitude)*/
  17  int16_t vy; /*< [cm/s] Ground Y Speed (Longitude)*/
  18  int16_t vz; /*< [cm/s] Ground Z Speed (Altitude)*/
  19  uint16_t ind_airspeed; /*< [cm/s] Indicated airspeed*/
  20  uint16_t true_airspeed; /*< [cm/s] True airspeed*/
  21  int16_t xacc; /*< [mG] X acceleration*/
  22  int16_t yacc; /*< [mG] Y acceleration*/
  23  int16_t zacc; /*< [mG] Z acceleration*/
  24 } mavlink_hil_state_quaternion_t;
  25
  26 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN 64
  27 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN 64
  28 #define MAVLINK_MSG_ID_115_LEN 64
  29 #define MAVLINK_MSG_ID_115_MIN_LEN 64
  30
  31 #define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC 4
  32 #define MAVLINK_MSG_ID_115_CRC 4
  33
  34 #define MAVLINK_MSG_HIL_STATE_QUATERNION_FIELD_ATTITUDE_QUATERNION_LEN 4
  35
  36 #if MAVLINK_COMMAND_24BIT
  37 #define MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION { \
  38     115, \
  39     "HIL_STATE_QUATERNION", \
  40     16, \
  41     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \
  42          { "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \
  43          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \
  44          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \
  45          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \
  46          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \
  47          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \
  48          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \
  49          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \
  50          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \
  51          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \
  52          { "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \
  53          { "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \
  54          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \
  55          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \
  56          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_t, zacc) }, \
  57          } \
  58 }
  59 #else
  60 #define MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION { \
  61     "HIL_STATE_QUATERNION", \
  62     16, \
  63     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \
  64          { "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \
  65          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \
  66          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \
  67          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \
  68          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \
  69          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \
  70          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \
  71          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \
  72          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \
  73          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \
  74          { "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \
  75          { "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \
  76          { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \
  77          { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \
  78          { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_t, zacc) }, \
  79          } \
  80 }
  81 #endif
  82
  83 /**
  84  * @brief Pack a hil_state_quaternion 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 attitude_quaternion  Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
  91  * @param rollspeed [rad/s] Body frame roll / phi angular speed
  92  * @param pitchspeed [rad/s] Body frame pitch / theta angular speed
  93  * @param yawspeed [rad/s] Body frame yaw / psi angular speed
  94  * @param lat [degE7] Latitude
  95  * @param lon [degE7] Longitude
  96  * @param alt [mm] Altitude
  97  * @param vx [cm/s] Ground X Speed (Latitude)
  98  * @param vy [cm/s] Ground Y Speed (Longitude)
  99  * @param vz [cm/s] Ground Z Speed (Altitude)
 100  * @param ind_airspeed [cm/s] Indicated airspeed
 101  * @param true_airspeed [cm/s] True airspeed
 102  * @param xacc [mG] X acceleration
 103  * @param yacc [mG] Y acceleration
 104  * @param zacc [mG] Z acceleration
 105  * @return length of the message in bytes (excluding serial stream start sign)
 106  */
 107 static inline uint16_t mavlink_msg_hil_state_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
 108                                uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
 109 {
 110 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 111     char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
 112     _mav_put_uint64_t(buf, 0, time_usec);
 113     _mav_put_float(buf, 24, rollspeed);
 114     _mav_put_float(buf, 28, pitchspeed);
 115     _mav_put_float(buf, 32, yawspeed);
 116     _mav_put_int32_t(buf, 36, lat);
 117     _mav_put_int32_t(buf, 40, lon);
 118     _mav_put_int32_t(buf, 44, alt);
 119     _mav_put_int16_t(buf, 48, vx);
 120     _mav_put_int16_t(buf, 50, vy);
 121     _mav_put_int16_t(buf, 52, vz);
 122     _mav_put_uint16_t(buf, 54, ind_airspeed);
 123     _mav_put_uint16_t(buf, 56, true_airspeed);
 124     _mav_put_int16_t(buf, 58, xacc);
 125     _mav_put_int16_t(buf, 60, yacc);
 126     _mav_put_int16_t(buf, 62, zacc);
 127     _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 128         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 129 #else
 130     mavlink_hil_state_quaternion_t packet;
 131     packet.time_usec = time_usec;
 132     packet.rollspeed = rollspeed;
 133     packet.pitchspeed = pitchspeed;
 134     packet.yawspeed = yawspeed;
 135     packet.lat = lat;
 136     packet.lon = lon;
 137     packet.alt = alt;
 138     packet.vx = vx;
 139     packet.vy = vy;
 140     packet.vz = vz;
 141     packet.ind_airspeed = ind_airspeed;
 142     packet.true_airspeed = true_airspeed;
 143     packet.xacc = xacc;
 144     packet.yacc = yacc;
 145     packet.zacc = zacc;
 146     mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 147         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 148 #endif
 149
 150     msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
 151     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 152 }
 153
 154 /**
 155  * @brief Pack a hil_state_quaternion message on a channel
 156  * @param system_id ID of this system
 157  * @param component_id ID of this component (e.g. 200 for IMU)
 158  * @param chan The MAVLink channel this message will be sent over
 159  * @param msg The MAVLink message to compress the data into
 160  * @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.
 161  * @param attitude_quaternion  Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
 162  * @param rollspeed [rad/s] Body frame roll / phi angular speed
 163  * @param pitchspeed [rad/s] Body frame pitch / theta angular speed
 164  * @param yawspeed [rad/s] Body frame yaw / psi angular speed
 165  * @param lat [degE7] Latitude
 166  * @param lon [degE7] Longitude
 167  * @param alt [mm] Altitude
 168  * @param vx [cm/s] Ground X Speed (Latitude)
 169  * @param vy [cm/s] Ground Y Speed (Longitude)
 170  * @param vz [cm/s] Ground Z Speed (Altitude)
 171  * @param ind_airspeed [cm/s] Indicated airspeed
 172  * @param true_airspeed [cm/s] True airspeed
 173  * @param xacc [mG] X acceleration
 174  * @param yacc [mG] Y acceleration
 175  * @param zacc [mG] Z acceleration
 176  * @return length of the message in bytes (excluding serial stream start sign)
 177  */
 178 static inline uint16_t mavlink_msg_hil_state_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 179                                mavlink_message_t* msg,
 180                                    uint64_t time_usec,const float *attitude_quaternion,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,uint16_t ind_airspeed,uint16_t true_airspeed,int16_t xacc,int16_t yacc,int16_t zacc)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183     char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
 184     _mav_put_uint64_t(buf, 0, time_usec);
 185     _mav_put_float(buf, 24, rollspeed);
 186     _mav_put_float(buf, 28, pitchspeed);
 187     _mav_put_float(buf, 32, yawspeed);
 188     _mav_put_int32_t(buf, 36, lat);
 189     _mav_put_int32_t(buf, 40, lon);
 190     _mav_put_int32_t(buf, 44, alt);
 191     _mav_put_int16_t(buf, 48, vx);
 192     _mav_put_int16_t(buf, 50, vy);
 193     _mav_put_int16_t(buf, 52, vz);
 194     _mav_put_uint16_t(buf, 54, ind_airspeed);
 195     _mav_put_uint16_t(buf, 56, true_airspeed);
 196     _mav_put_int16_t(buf, 58, xacc);
 197     _mav_put_int16_t(buf, 60, yacc);
 198     _mav_put_int16_t(buf, 62, zacc);
 199     _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 200         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 201 #else
 202     mavlink_hil_state_quaternion_t packet;
 203     packet.time_usec = time_usec;
 204     packet.rollspeed = rollspeed;
 205     packet.pitchspeed = pitchspeed;
 206     packet.yawspeed = yawspeed;
 207     packet.lat = lat;
 208     packet.lon = lon;
 209     packet.alt = alt;
 210     packet.vx = vx;
 211     packet.vy = vy;
 212     packet.vz = vz;
 213     packet.ind_airspeed = ind_airspeed;
 214     packet.true_airspeed = true_airspeed;
 215     packet.xacc = xacc;
 216     packet.yacc = yacc;
 217     packet.zacc = zacc;
 218     mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 219         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 220 #endif
 221
 222     msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
 223     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 224 }
 225
 226 /**
 227  * @brief Encode a hil_state_quaternion struct
 228  *
 229  * @param system_id ID of this system
 230  * @param component_id ID of this component (e.g. 200 for IMU)
 231  * @param msg The MAVLink message to compress the data into
 232  * @param hil_state_quaternion C-struct to read the message contents from
 233  */
 234 static inline uint16_t mavlink_msg_hil_state_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
 235 {
 236     return mavlink_msg_hil_state_quaternion_pack(system_id, component_id, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
 237 }
 238
 239 /**
 240  * @brief Encode a hil_state_quaternion struct on a channel
 241  *
 242  * @param system_id ID of this system
 243  * @param component_id ID of this component (e.g. 200 for IMU)
 244  * @param chan The MAVLink channel this message will be sent over
 245  * @param msg The MAVLink message to compress the data into
 246  * @param hil_state_quaternion C-struct to read the message contents from
 247  */
 248 static inline uint16_t mavlink_msg_hil_state_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
 249 {
 250     return mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, chan, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
 251 }
 252
 253 /**
 254  * @brief Send a hil_state_quaternion message
 255  * @param chan MAVLink channel to send the message
 256  *
 257  * @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.
 258  * @param attitude_quaternion  Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
 259  * @param rollspeed [rad/s] Body frame roll / phi angular speed
 260  * @param pitchspeed [rad/s] Body frame pitch / theta angular speed
 261  * @param yawspeed [rad/s] Body frame yaw / psi angular speed
 262  * @param lat [degE7] Latitude
 263  * @param lon [degE7] Longitude
 264  * @param alt [mm] Altitude
 265  * @param vx [cm/s] Ground X Speed (Latitude)
 266  * @param vy [cm/s] Ground Y Speed (Longitude)
 267  * @param vz [cm/s] Ground Z Speed (Altitude)
 268  * @param ind_airspeed [cm/s] Indicated airspeed
 269  * @param true_airspeed [cm/s] True airspeed
 270  * @param xacc [mG] X acceleration
 271  * @param yacc [mG] Y acceleration
 272  * @param zacc [mG] Z acceleration
 273  */
 274 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 275
 276 static inline void mavlink_msg_hil_state_quaternion_send(mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
 277 {
 278 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 279     char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN];
 280     _mav_put_uint64_t(buf, 0, time_usec);
 281     _mav_put_float(buf, 24, rollspeed);
 282     _mav_put_float(buf, 28, pitchspeed);
 283     _mav_put_float(buf, 32, yawspeed);
 284     _mav_put_int32_t(buf, 36, lat);
 285     _mav_put_int32_t(buf, 40, lon);
 286     _mav_put_int32_t(buf, 44, alt);
 287     _mav_put_int16_t(buf, 48, vx);
 288     _mav_put_int16_t(buf, 50, vy);
 289     _mav_put_int16_t(buf, 52, vz);
 290     _mav_put_uint16_t(buf, 54, ind_airspeed);
 291     _mav_put_uint16_t(buf, 56, true_airspeed);
 292     _mav_put_int16_t(buf, 58, xacc);
 293     _mav_put_int16_t(buf, 60, yacc);
 294     _mav_put_int16_t(buf, 62, zacc);
 295     _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 296     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 297 #else
 298     mavlink_hil_state_quaternion_t packet;
 299     packet.time_usec = time_usec;
 300     packet.rollspeed = rollspeed;
 301     packet.pitchspeed = pitchspeed;
 302     packet.yawspeed = yawspeed;
 303     packet.lat = lat;
 304     packet.lon = lon;
 305     packet.alt = alt;
 306     packet.vx = vx;
 307     packet.vy = vy;
 308     packet.vz = vz;
 309     packet.ind_airspeed = ind_airspeed;
 310     packet.true_airspeed = true_airspeed;
 311     packet.xacc = xacc;
 312     packet.yacc = yacc;
 313     packet.zacc = zacc;
 314     mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 315     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 316 #endif
 317 }
 318
 319 /**
 320  * @brief Send a hil_state_quaternion message
 321  * @param chan MAVLink channel to send the message
 322  * @param struct The MAVLink struct to serialize
 323  */
 324 static inline void mavlink_msg_hil_state_quaternion_send_struct(mavlink_channel_t chan, const mavlink_hil_state_quaternion_t* hil_state_quaternion)
 325 {
 326 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 327     mavlink_msg_hil_state_quaternion_send(chan, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc);
 328 #else
 329     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)hil_state_quaternion, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 330 #endif
 331 }
 332
 333 #if MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 334 /*
 335   This varient of _send() can be used to save stack space by re-using
 336   memory from the receive buffer.  The caller provides a
 337   mavlink_message_t which is the size of a full mavlink message. This
 338   is usually the receive buffer for the channel, and allows a reply to an
 339   incoming message with minimum stack space usage.
 340  */
 341 static inline void mavlink_msg_hil_state_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc)
 342 {
 343 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 344     char *buf = (char *)msgbuf;
 345     _mav_put_uint64_t(buf, 0, time_usec);
 346     _mav_put_float(buf, 24, rollspeed);
 347     _mav_put_float(buf, 28, pitchspeed);
 348     _mav_put_float(buf, 32, yawspeed);
 349     _mav_put_int32_t(buf, 36, lat);
 350     _mav_put_int32_t(buf, 40, lon);
 351     _mav_put_int32_t(buf, 44, alt);
 352     _mav_put_int16_t(buf, 48, vx);
 353     _mav_put_int16_t(buf, 50, vy);
 354     _mav_put_int16_t(buf, 52, vz);
 355     _mav_put_uint16_t(buf, 54, ind_airspeed);
 356     _mav_put_uint16_t(buf, 56, true_airspeed);
 357     _mav_put_int16_t(buf, 58, xacc);
 358     _mav_put_int16_t(buf, 60, yacc);
 359     _mav_put_int16_t(buf, 62, zacc);
 360     _mav_put_float_array(buf, 8, attitude_quaternion, 4);
 361     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 362 #else
 363     mavlink_hil_state_quaternion_t *packet = (mavlink_hil_state_quaternion_t *)msgbuf;
 364     packet->time_usec = time_usec;
 365     packet->rollspeed = rollspeed;
 366     packet->pitchspeed = pitchspeed;
 367     packet->yawspeed = yawspeed;
 368     packet->lat = lat;
 369     packet->lon = lon;
 370     packet->alt = alt;
 371     packet->vx = vx;
 372     packet->vy = vy;
 373     packet->vz = vz;
 374     packet->ind_airspeed = ind_airspeed;
 375     packet->true_airspeed = true_airspeed;
 376     packet->xacc = xacc;
 377     packet->yacc = yacc;
 378     packet->zacc = zacc;
 379     mav_array_memcpy(packet->attitude_quaternion, attitude_quaternion, sizeof(float)*4);
 380     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC);
 381 #endif
 382 }
 383 #endif
 384
 385 #endif
 386
 387 // MESSAGE HIL_STATE_QUATERNION UNPACKING
 388
 389
 390 /**
 391  * @brief Get field time_usec from hil_state_quaternion message
 392  *
 393  * @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.
 394  */
 395 static inline uint64_t mavlink_msg_hil_state_quaternion_get_time_usec(const mavlink_message_t* msg)
 396 {
 397     return _MAV_RETURN_uint64_t(msg,  0);
 398 }
 399
 400 /**
 401  * @brief Get field attitude_quaternion from hil_state_quaternion message
 402  *
 403  * @return  Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
 404  */
 405 static inline uint16_t mavlink_msg_hil_state_quaternion_get_attitude_quaternion(const mavlink_message_t* msg, float *attitude_quaternion)
 406 {
 407     return _MAV_RETURN_float_array(msg, attitude_quaternion, 4,  8);
 408 }
 409
 410 /**
 411  * @brief Get field rollspeed from hil_state_quaternion message
 412  *
 413  * @return [rad/s] Body frame roll / phi angular speed
 414  */
 415 static inline float mavlink_msg_hil_state_quaternion_get_rollspeed(const mavlink_message_t* msg)
 416 {
 417     return _MAV_RETURN_float(msg,  24);
 418 }
 419
 420 /**
 421  * @brief Get field pitchspeed from hil_state_quaternion message
 422  *
 423  * @return [rad/s] Body frame pitch / theta angular speed
 424  */
 425 static inline float mavlink_msg_hil_state_quaternion_get_pitchspeed(const mavlink_message_t* msg)
 426 {
 427     return _MAV_RETURN_float(msg,  28);
 428 }
 429
 430 /**
 431  * @brief Get field yawspeed from hil_state_quaternion message
 432  *
 433  * @return [rad/s] Body frame yaw / psi angular speed
 434  */
 435 static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_message_t* msg)
 436 {
 437     return _MAV_RETURN_float(msg,  32);
 438 }
 439
 440 /**
 441  * @brief Get field lat from hil_state_quaternion message
 442  *
 443  * @return [degE7] Latitude
 444  */
 445 static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_message_t* msg)
 446 {
 447     return _MAV_RETURN_int32_t(msg,  36);
 448 }
 449
 450 /**
 451  * @brief Get field lon from hil_state_quaternion message
 452  *
 453  * @return [degE7] Longitude
 454  */
 455 static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_message_t* msg)
 456 {
 457     return _MAV_RETURN_int32_t(msg,  40);
 458 }
 459
 460 /**
 461  * @brief Get field alt from hil_state_quaternion message
 462  *
 463  * @return [mm] Altitude
 464  */
 465 static inline int32_t mavlink_msg_hil_state_quaternion_get_alt(const mavlink_message_t* msg)
 466 {
 467     return _MAV_RETURN_int32_t(msg,  44);
 468 }
 469
 470 /**
 471  * @brief Get field vx from hil_state_quaternion message
 472  *
 473  * @return [cm/s] Ground X Speed (Latitude)
 474  */
 475 static inline int16_t mavlink_msg_hil_state_quaternion_get_vx(const mavlink_message_t* msg)
 476 {
 477     return _MAV_RETURN_int16_t(msg,  48);
 478 }
 479
 480 /**
 481  * @brief Get field vy from hil_state_quaternion message
 482  *
 483  * @return [cm/s] Ground Y Speed (Longitude)
 484  */
 485 static inline int16_t mavlink_msg_hil_state_quaternion_get_vy(const mavlink_message_t* msg)
 486 {
 487     return _MAV_RETURN_int16_t(msg,  50);
 488 }
 489
 490 /**
 491  * @brief Get field vz from hil_state_quaternion message
 492  *
 493  * @return [cm/s] Ground Z Speed (Altitude)
 494  */
 495 static inline int16_t mavlink_msg_hil_state_quaternion_get_vz(const mavlink_message_t* msg)
 496 {
 497     return _MAV_RETURN_int16_t(msg,  52);
 498 }
 499
 500 /**
 501  * @brief Get field ind_airspeed from hil_state_quaternion message
 502  *
 503  * @return [cm/s] Indicated airspeed
 504  */
 505 static inline uint16_t mavlink_msg_hil_state_quaternion_get_ind_airspeed(const mavlink_message_t* msg)
 506 {
 507     return _MAV_RETURN_uint16_t(msg,  54);
 508 }
 509
 510 /**
 511  * @brief Get field true_airspeed from hil_state_quaternion message
 512  *
 513  * @return [cm/s] True airspeed
 514  */
 515 static inline uint16_t mavlink_msg_hil_state_quaternion_get_true_airspeed(const mavlink_message_t* msg)
 516 {
 517     return _MAV_RETURN_uint16_t(msg,  56);
 518 }
 519
 520 /**
 521  * @brief Get field xacc from hil_state_quaternion message
 522  *
 523  * @return [mG] X acceleration
 524  */
 525 static inline int16_t mavlink_msg_hil_state_quaternion_get_xacc(const mavlink_message_t* msg)
 526 {
 527     return _MAV_RETURN_int16_t(msg,  58);
 528 }
 529
 530 /**
 531  * @brief Get field yacc from hil_state_quaternion message
 532  *
 533  * @return [mG] Y acceleration
 534  */
 535 static inline int16_t mavlink_msg_hil_state_quaternion_get_yacc(const mavlink_message_t* msg)
 536 {
 537     return _MAV_RETURN_int16_t(msg,  60);
 538 }
 539
 540 /**
 541  * @brief Get field zacc from hil_state_quaternion message
 542  *
 543  * @return [mG] Z acceleration
 544  */
 545 static inline int16_t mavlink_msg_hil_state_quaternion_get_zacc(const mavlink_message_t* msg)
 546 {
 547     return _MAV_RETURN_int16_t(msg,  62);
 548 }
 549
 550 /**
 551  * @brief Decode a hil_state_quaternion message into a struct
 552  *
 553  * @param msg The message to decode
 554  * @param hil_state_quaternion C-struct to decode the message contents into
 555  */
 556 static inline void mavlink_msg_hil_state_quaternion_decode(const mavlink_message_t* msg, mavlink_hil_state_quaternion_t* hil_state_quaternion)
 557 {
 558 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 559     hil_state_quaternion->time_usec = mavlink_msg_hil_state_quaternion_get_time_usec(msg);
 560     mavlink_msg_hil_state_quaternion_get_attitude_quaternion(msg, hil_state_quaternion->attitude_quaternion);
 561     hil_state_quaternion->rollspeed = mavlink_msg_hil_state_quaternion_get_rollspeed(msg);
 562     hil_state_quaternion->pitchspeed = mavlink_msg_hil_state_quaternion_get_pitchspeed(msg);
 563     hil_state_quaternion->yawspeed = mavlink_msg_hil_state_quaternion_get_yawspeed(msg);
 564     hil_state_quaternion->lat = mavlink_msg_hil_state_quaternion_get_lat(msg);
 565     hil_state_quaternion->lon = mavlink_msg_hil_state_quaternion_get_lon(msg);
 566     hil_state_quaternion->alt = mavlink_msg_hil_state_quaternion_get_alt(msg);
 567     hil_state_quaternion->vx = mavlink_msg_hil_state_quaternion_get_vx(msg);
 568     hil_state_quaternion->vy = mavlink_msg_hil_state_quaternion_get_vy(msg);
 569     hil_state_quaternion->vz = mavlink_msg_hil_state_quaternion_get_vz(msg);
 570     hil_state_quaternion->ind_airspeed = mavlink_msg_hil_state_quaternion_get_ind_airspeed(msg);
 571     hil_state_quaternion->true_airspeed = mavlink_msg_hil_state_quaternion_get_true_airspeed(msg);
 572     hil_state_quaternion->xacc = mavlink_msg_hil_state_quaternion_get_xacc(msg);
 573     hil_state_quaternion->yacc = mavlink_msg_hil_state_quaternion_get_yacc(msg);
 574     hil_state_quaternion->zacc = mavlink_msg_hil_state_quaternion_get_zacc(msg);
 575 #else
 576         uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN? msg->len : MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN;
 577         memset(hil_state_quaternion, 0, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN);
 578     memcpy(hil_state_quaternion, _MAV_PAYLOAD(msg), len);
 579 #endif
 580 }