lib/main/MAVLink/common/mavlink_msg_mount_orientation.h

   1 #pragma once
   2 // MESSAGE MOUNT_ORIENTATION PACKING
   3
   4 #define MAVLINK_MSG_ID_MOUNT_ORIENTATION 265
   5
   6
   7 typedef struct __mavlink_mount_orientation_t {
   8  uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
   9  float roll; /*< [deg] Roll in global frame (set to NaN for invalid).*/
  10  float pitch; /*< [deg] Pitch in global frame (set to NaN for invalid).*/
  11  float yaw; /*< [deg] Yaw relative to vehicle (set to NaN for invalid).*/
  12  float yaw_absolute; /*< [deg] Yaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).*/
  13 } mavlink_mount_orientation_t;
  14
  15 #define MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN 20
  16 #define MAVLINK_MSG_ID_MOUNT_ORIENTATION_MIN_LEN 16
  17 #define MAVLINK_MSG_ID_265_LEN 20
  18 #define MAVLINK_MSG_ID_265_MIN_LEN 16
  19
  20 #define MAVLINK_MSG_ID_MOUNT_ORIENTATION_CRC 26
  21 #define MAVLINK_MSG_ID_265_CRC 26
  22
  23
  24
  25 #if MAVLINK_COMMAND_24BIT
  26 #define MAVLINK_MESSAGE_INFO_MOUNT_ORIENTATION { \
  27     265, \
  28     "MOUNT_ORIENTATION", \
  29     5, \
  30     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_mount_orientation_t, time_boot_ms) }, \
  31          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mount_orientation_t, roll) }, \
  32          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mount_orientation_t, pitch) }, \
  33          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mount_orientation_t, yaw) }, \
  34          { "yaw_absolute", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mount_orientation_t, yaw_absolute) }, \
  35          } \
  36 }
  37 #else
  38 #define MAVLINK_MESSAGE_INFO_MOUNT_ORIENTATION { \
  39     "MOUNT_ORIENTATION", \
  40     5, \
  41     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_mount_orientation_t, time_boot_ms) }, \
  42          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mount_orientation_t, roll) }, \
  43          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mount_orientation_t, pitch) }, \
  44          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mount_orientation_t, yaw) }, \
  45          { "yaw_absolute", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mount_orientation_t, yaw_absolute) }, \
  46          } \
  47 }
  48 #endif
  49
  50 /**
  51  * @brief Pack a mount_orientation message
  52  * @param system_id ID of this system
  53  * @param component_id ID of this component (e.g. 200 for IMU)
  54  * @param msg The MAVLink message to compress the data into
  55  *
  56  * @param time_boot_ms [ms] Timestamp (time since system boot).
  57  * @param roll [deg] Roll in global frame (set to NaN for invalid).
  58  * @param pitch [deg] Pitch in global frame (set to NaN for invalid).
  59  * @param yaw [deg] Yaw relative to vehicle (set to NaN for invalid).
  60  * @param yaw_absolute [deg] Yaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).
  61  * @return length of the message in bytes (excluding serial stream start sign)
  62  */
  63 static inline uint16_t mavlink_msg_mount_orientation_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  64                                uint32_t time_boot_ms, float roll, float pitch, float yaw, float yaw_absolute)
  65 {
  66 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  67     char buf[MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN];
  68     _mav_put_uint32_t(buf, 0, time_boot_ms);
  69     _mav_put_float(buf, 4, roll);
  70     _mav_put_float(buf, 8, pitch);
  71     _mav_put_float(buf, 12, yaw);
  72     _mav_put_float(buf, 16, yaw_absolute);
  73
  74         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN);
  75 #else
  76     mavlink_mount_orientation_t packet;
  77     packet.time_boot_ms = time_boot_ms;
  78     packet.roll = roll;
  79     packet.pitch = pitch;
  80     packet.yaw = yaw;
  81     packet.yaw_absolute = yaw_absolute;
  82
  83         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN);
  84 #endif
  85
  86     msg->msgid = MAVLINK_MSG_ID_MOUNT_ORIENTATION;
  87     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MOUNT_ORIENTATION_MIN_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_CRC);
  88 }
  89
  90 /**
  91  * @brief Pack a mount_orientation message on a channel
  92  * @param system_id ID of this system
  93  * @param component_id ID of this component (e.g. 200 for IMU)
  94  * @param chan The MAVLink channel this message will be sent over
  95  * @param msg The MAVLink message to compress the data into
  96  * @param time_boot_ms [ms] Timestamp (time since system boot).
  97  * @param roll [deg] Roll in global frame (set to NaN for invalid).
  98  * @param pitch [deg] Pitch in global frame (set to NaN for invalid).
  99  * @param yaw [deg] Yaw relative to vehicle (set to NaN for invalid).
 100  * @param yaw_absolute [deg] Yaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).
 101  * @return length of the message in bytes (excluding serial stream start sign)
 102  */
 103 static inline uint16_t mavlink_msg_mount_orientation_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 104                                mavlink_message_t* msg,
 105                                    uint32_t time_boot_ms,float roll,float pitch,float yaw,float yaw_absolute)
 106 {
 107 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 108     char buf[MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN];
 109     _mav_put_uint32_t(buf, 0, time_boot_ms);
 110     _mav_put_float(buf, 4, roll);
 111     _mav_put_float(buf, 8, pitch);
 112     _mav_put_float(buf, 12, yaw);
 113     _mav_put_float(buf, 16, yaw_absolute);
 114
 115         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN);
 116 #else
 117     mavlink_mount_orientation_t packet;
 118     packet.time_boot_ms = time_boot_ms;
 119     packet.roll = roll;
 120     packet.pitch = pitch;
 121     packet.yaw = yaw;
 122     packet.yaw_absolute = yaw_absolute;
 123
 124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN);
 125 #endif
 126
 127     msg->msgid = MAVLINK_MSG_ID_MOUNT_ORIENTATION;
 128     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MOUNT_ORIENTATION_MIN_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_CRC);
 129 }
 130
 131 /**
 132  * @brief Encode a mount_orientation struct
 133  *
 134  * @param system_id ID of this system
 135  * @param component_id ID of this component (e.g. 200 for IMU)
 136  * @param msg The MAVLink message to compress the data into
 137  * @param mount_orientation C-struct to read the message contents from
 138  */
 139 static inline uint16_t mavlink_msg_mount_orientation_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_mount_orientation_t* mount_orientation)
 140 {
 141     return mavlink_msg_mount_orientation_pack(system_id, component_id, msg, mount_orientation->time_boot_ms, mount_orientation->roll, mount_orientation->pitch, mount_orientation->yaw, mount_orientation->yaw_absolute);
 142 }
 143
 144 /**
 145  * @brief Encode a mount_orientation struct on a channel
 146  *
 147  * @param system_id ID of this system
 148  * @param component_id ID of this component (e.g. 200 for IMU)
 149  * @param chan The MAVLink channel this message will be sent over
 150  * @param msg The MAVLink message to compress the data into
 151  * @param mount_orientation C-struct to read the message contents from
 152  */
 153 static inline uint16_t mavlink_msg_mount_orientation_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_mount_orientation_t* mount_orientation)
 154 {
 155     return mavlink_msg_mount_orientation_pack_chan(system_id, component_id, chan, msg, mount_orientation->time_boot_ms, mount_orientation->roll, mount_orientation->pitch, mount_orientation->yaw, mount_orientation->yaw_absolute);
 156 }
 157
 158 /**
 159  * @brief Send a mount_orientation message
 160  * @param chan MAVLink channel to send the message
 161  *
 162  * @param time_boot_ms [ms] Timestamp (time since system boot).
 163  * @param roll [deg] Roll in global frame (set to NaN for invalid).
 164  * @param pitch [deg] Pitch in global frame (set to NaN for invalid).
 165  * @param yaw [deg] Yaw relative to vehicle (set to NaN for invalid).
 166  * @param yaw_absolute [deg] Yaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).
 167  */
 168 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 169
 170 static inline void mavlink_msg_mount_orientation_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float yaw_absolute)
 171 {
 172 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 173     char buf[MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN];
 174     _mav_put_uint32_t(buf, 0, time_boot_ms);
 175     _mav_put_float(buf, 4, roll);
 176     _mav_put_float(buf, 8, pitch);
 177     _mav_put_float(buf, 12, yaw);
 178     _mav_put_float(buf, 16, yaw_absolute);
 179
 180     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_ORIENTATION, buf, MAVLINK_MSG_ID_MOUNT_ORIENTATION_MIN_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_CRC);
 181 #else
 182     mavlink_mount_orientation_t packet;
 183     packet.time_boot_ms = time_boot_ms;
 184     packet.roll = roll;
 185     packet.pitch = pitch;
 186     packet.yaw = yaw;
 187     packet.yaw_absolute = yaw_absolute;
 188
 189     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_ORIENTATION, (const char *)&packet, MAVLINK_MSG_ID_MOUNT_ORIENTATION_MIN_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_CRC);
 190 #endif
 191 }
 192
 193 /**
 194  * @brief Send a mount_orientation message
 195  * @param chan MAVLink channel to send the message
 196  * @param struct The MAVLink struct to serialize
 197  */
 198 static inline void mavlink_msg_mount_orientation_send_struct(mavlink_channel_t chan, const mavlink_mount_orientation_t* mount_orientation)
 199 {
 200 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 201     mavlink_msg_mount_orientation_send(chan, mount_orientation->time_boot_ms, mount_orientation->roll, mount_orientation->pitch, mount_orientation->yaw, mount_orientation->yaw_absolute);
 202 #else
 203     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_ORIENTATION, (const char *)mount_orientation, MAVLINK_MSG_ID_MOUNT_ORIENTATION_MIN_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_CRC);
 204 #endif
 205 }
 206
 207 #if MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 208 /*
 209   This varient of _send() can be used to save stack space by re-using
 210   memory from the receive buffer.  The caller provides a
 211   mavlink_message_t which is the size of a full mavlink message. This
 212   is usually the receive buffer for the channel, and allows a reply to an
 213   incoming message with minimum stack space usage.
 214  */
 215 static inline void mavlink_msg_mount_orientation_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, float roll, float pitch, float yaw, float yaw_absolute)
 216 {
 217 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 218     char *buf = (char *)msgbuf;
 219     _mav_put_uint32_t(buf, 0, time_boot_ms);
 220     _mav_put_float(buf, 4, roll);
 221     _mav_put_float(buf, 8, pitch);
 222     _mav_put_float(buf, 12, yaw);
 223     _mav_put_float(buf, 16, yaw_absolute);
 224
 225     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_ORIENTATION, buf, MAVLINK_MSG_ID_MOUNT_ORIENTATION_MIN_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_CRC);
 226 #else
 227     mavlink_mount_orientation_t *packet = (mavlink_mount_orientation_t *)msgbuf;
 228     packet->time_boot_ms = time_boot_ms;
 229     packet->roll = roll;
 230     packet->pitch = pitch;
 231     packet->yaw = yaw;
 232     packet->yaw_absolute = yaw_absolute;
 233
 234     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MOUNT_ORIENTATION, (const char *)packet, MAVLINK_MSG_ID_MOUNT_ORIENTATION_MIN_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN, MAVLINK_MSG_ID_MOUNT_ORIENTATION_CRC);
 235 #endif
 236 }
 237 #endif
 238
 239 #endif
 240
 241 // MESSAGE MOUNT_ORIENTATION UNPACKING
 242
 243
 244 /**
 245  * @brief Get field time_boot_ms from mount_orientation message
 246  *
 247  * @return [ms] Timestamp (time since system boot).
 248  */
 249 static inline uint32_t mavlink_msg_mount_orientation_get_time_boot_ms(const mavlink_message_t* msg)
 250 {
 251     return _MAV_RETURN_uint32_t(msg,  0);
 252 }
 253
 254 /**
 255  * @brief Get field roll from mount_orientation message
 256  *
 257  * @return [deg] Roll in global frame (set to NaN for invalid).
 258  */
 259 static inline float mavlink_msg_mount_orientation_get_roll(const mavlink_message_t* msg)
 260 {
 261     return _MAV_RETURN_float(msg,  4);
 262 }
 263
 264 /**
 265  * @brief Get field pitch from mount_orientation message
 266  *
 267  * @return [deg] Pitch in global frame (set to NaN for invalid).
 268  */
 269 static inline float mavlink_msg_mount_orientation_get_pitch(const mavlink_message_t* msg)
 270 {
 271     return _MAV_RETURN_float(msg,  8);
 272 }
 273
 274 /**
 275  * @brief Get field yaw from mount_orientation message
 276  *
 277  * @return [deg] Yaw relative to vehicle (set to NaN for invalid).
 278  */
 279 static inline float mavlink_msg_mount_orientation_get_yaw(const mavlink_message_t* msg)
 280 {
 281     return _MAV_RETURN_float(msg,  12);
 282 }
 283
 284 /**
 285  * @brief Get field yaw_absolute from mount_orientation message
 286  *
 287  * @return [deg] Yaw in absolute frame relative to Earth's North, north is 0 (set to NaN for invalid).
 288  */
 289 static inline float mavlink_msg_mount_orientation_get_yaw_absolute(const mavlink_message_t* msg)
 290 {
 291     return _MAV_RETURN_float(msg,  16);
 292 }
 293
 294 /**
 295  * @brief Decode a mount_orientation message into a struct
 296  *
 297  * @param msg The message to decode
 298  * @param mount_orientation C-struct to decode the message contents into
 299  */
 300 static inline void mavlink_msg_mount_orientation_decode(const mavlink_message_t* msg, mavlink_mount_orientation_t* mount_orientation)
 301 {
 302 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 303     mount_orientation->time_boot_ms = mavlink_msg_mount_orientation_get_time_boot_ms(msg);
 304     mount_orientation->roll = mavlink_msg_mount_orientation_get_roll(msg);
 305     mount_orientation->pitch = mavlink_msg_mount_orientation_get_pitch(msg);
 306     mount_orientation->yaw = mavlink_msg_mount_orientation_get_yaw(msg);
 307     mount_orientation->yaw_absolute = mavlink_msg_mount_orientation_get_yaw_absolute(msg);
 308 #else
 309         uint8_t len = msg->len < MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN? msg->len : MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN;
 310         memset(mount_orientation, 0, MAVLINK_MSG_ID_MOUNT_ORIENTATION_LEN);
 311     memcpy(mount_orientation, _MAV_PAYLOAD(msg), len);
 312 #endif
 313 }