flight/libraries/mavlink/v1.0/common/mavlink_msg_attitude.h

   1 // MESSAGE ATTITUDE PACKING
   2
   3 #define MAVLINK_MSG_ID_ATTITUDE 30
   4
   5 typedef struct __mavlink_attitude_t {
   6     uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   7     float    roll; ///< Roll angle (rad)
   8     float    pitch; ///< Pitch angle (rad)
   9     float    yaw; ///< Yaw angle (rad)
  10     float    rollspeed; ///< Roll angular speed (rad/s)
  11     float    pitchspeed; ///< Pitch angular speed (rad/s)
  12     float    yawspeed; ///< Yaw angular speed (rad/s)
  13 } mavlink_attitude_t;
  14
  15 #define MAVLINK_MSG_ID_ATTITUDE_LEN 28
  16 #define MAVLINK_MSG_ID_30_LEN       28
  17
  18
  19 #define MAVLINK_MESSAGE_INFO_ATTITUDE \
  20     { \
  21         "ATTITUDE", \
  22         7, \
  23         { \
  24             { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
  25             { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
  26             { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
  27             { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
  28             { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
  29             { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
  30             { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
  31         } \
  32     }
  33
  34
  35 /**
  36  * @brief Pack a attitude message
  37  * @param system_id ID of this system
  38  * @param component_id ID of this component (e.g. 200 for IMU)
  39  * @param msg The MAVLink message to compress the data into
  40  *
  41  * @param time_boot_ms Timestamp (milliseconds since system boot)
  42  * @param roll Roll angle (rad)
  43  * @param pitch Pitch angle (rad)
  44  * @param yaw Yaw angle (rad)
  45  * @param rollspeed Roll angular speed (rad/s)
  46  * @param pitchspeed Pitch angular speed (rad/s)
  47  * @param yawspeed Yaw angular speed (rad/s)
  48  * @return length of the message in bytes (excluding serial stream start sign)
  49  */
  50 static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  51                                                  uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
  52 {
  53 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  54     char buf[28];
  55     _mav_put_uint32_t(buf, 0, time_boot_ms);
  56     _mav_put_float(buf, 4, roll);
  57     _mav_put_float(buf, 8, pitch);
  58     _mav_put_float(buf, 12, yaw);
  59     _mav_put_float(buf, 16, rollspeed);
  60     _mav_put_float(buf, 20, pitchspeed);
  61     _mav_put_float(buf, 24, yawspeed);
  62
  63     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
  64 #else
  65     mavlink_attitude_t packet;
  66     packet.time_boot_ms = time_boot_ms;
  67     packet.roll       = roll;
  68     packet.pitch      = pitch;
  69     packet.yaw        = yaw;
  70     packet.rollspeed  = rollspeed;
  71     packet.pitchspeed = pitchspeed;
  72     packet.yawspeed   = yawspeed;
  73
  74     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
  75 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  76
  77     msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
  78     return mavlink_finalize_message(msg, system_id, component_id, 28, 39);
  79 }
  80
  81 /**
  82  * @brief Pack a attitude message on a channel
  83  * @param system_id ID of this system
  84  * @param component_id ID of this component (e.g. 200 for IMU)
  85  * @param chan The MAVLink channel this message was sent over
  86  * @param msg The MAVLink message to compress the data into
  87  * @param time_boot_ms Timestamp (milliseconds since system boot)
  88  * @param roll Roll angle (rad)
  89  * @param pitch Pitch angle (rad)
  90  * @param yaw Yaw angle (rad)
  91  * @param rollspeed Roll angular speed (rad/s)
  92  * @param pitchspeed Pitch angular speed (rad/s)
  93  * @param yawspeed Yaw angular speed (rad/s)
  94  * @return length of the message in bytes (excluding serial stream start sign)
  95  */
  96 static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  97                                                       mavlink_message_t *msg,
  98                                                       uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
  99 {
 100 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 101     char buf[28];
 102     _mav_put_uint32_t(buf, 0, time_boot_ms);
 103     _mav_put_float(buf, 4, roll);
 104     _mav_put_float(buf, 8, pitch);
 105     _mav_put_float(buf, 12, yaw);
 106     _mav_put_float(buf, 16, rollspeed);
 107     _mav_put_float(buf, 20, pitchspeed);
 108     _mav_put_float(buf, 24, yawspeed);
 109
 110     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
 111 #else
 112     mavlink_attitude_t packet;
 113     packet.time_boot_ms = time_boot_ms;
 114     packet.roll       = roll;
 115     packet.pitch      = pitch;
 116     packet.yaw        = yaw;
 117     packet.rollspeed  = rollspeed;
 118     packet.pitchspeed = pitchspeed;
 119     packet.yawspeed   = yawspeed;
 120
 121     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
 122 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 123
 124     msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
 125     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 39);
 126 }
 127
 128 /**
 129  * @brief Encode a attitude struct into a message
 130  *
 131  * @param system_id ID of this system
 132  * @param component_id ID of this component (e.g. 200 for IMU)
 133  * @param msg The MAVLink message to compress the data into
 134  * @param attitude C-struct to read the message contents from
 135  */
 136 static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_attitude_t *attitude)
 137 {
 138     return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
 139 }
 140
 141 /**
 142  * @brief Send a attitude message
 143  * @param chan MAVLink channel to send the message
 144  *
 145  * @param time_boot_ms Timestamp (milliseconds since system boot)
 146  * @param roll Roll angle (rad)
 147  * @param pitch Pitch angle (rad)
 148  * @param yaw Yaw angle (rad)
 149  * @param rollspeed Roll angular speed (rad/s)
 150  * @param pitchspeed Pitch angular speed (rad/s)
 151  * @param yawspeed Yaw angular speed (rad/s)
 152  */
 153 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 154
 155 static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
 156 {
 157 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 158     char buf[28];
 159     _mav_put_uint32_t(buf, 0, time_boot_ms);
 160     _mav_put_float(buf, 4, roll);
 161     _mav_put_float(buf, 8, pitch);
 162     _mav_put_float(buf, 12, yaw);
 163     _mav_put_float(buf, 16, rollspeed);
 164     _mav_put_float(buf, 20, pitchspeed);
 165     _mav_put_float(buf, 24, yawspeed);
 166
 167     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, 28, 39);
 168 #else
 169     mavlink_attitude_t packet;
 170     packet.time_boot_ms = time_boot_ms;
 171     packet.roll       = roll;
 172     packet.pitch      = pitch;
 173     packet.yaw        = yaw;
 174     packet.rollspeed  = rollspeed;
 175     packet.pitchspeed = pitchspeed;
 176     packet.yawspeed   = yawspeed;
 177
 178     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 28, 39);
 179 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 180 }
 181
 182 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 183
 184 // MESSAGE ATTITUDE UNPACKING
 185
 186
 187 /**
 188  * @brief Get field time_boot_ms from attitude message
 189  *
 190  * @return Timestamp (milliseconds since system boot)
 191  */
 192 static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t *msg)
 193 {
 194     return _MAV_RETURN_uint32_t(msg, 0);
 195 }
 196
 197 /**
 198  * @brief Get field roll from attitude message
 199  *
 200  * @return Roll angle (rad)
 201  */
 202 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t *msg)
 203 {
 204     return _MAV_RETURN_float(msg, 4);
 205 }
 206
 207 /**
 208  * @brief Get field pitch from attitude message
 209  *
 210  * @return Pitch angle (rad)
 211  */
 212 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t *msg)
 213 {
 214     return _MAV_RETURN_float(msg, 8);
 215 }
 216
 217 /**
 218  * @brief Get field yaw from attitude message
 219  *
 220  * @return Yaw angle (rad)
 221  */
 222 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t *msg)
 223 {
 224     return _MAV_RETURN_float(msg, 12);
 225 }
 226
 227 /**
 228  * @brief Get field rollspeed from attitude message
 229  *
 230  * @return Roll angular speed (rad/s)
 231  */
 232 static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t *msg)
 233 {
 234     return _MAV_RETURN_float(msg, 16);
 235 }
 236
 237 /**
 238  * @brief Get field pitchspeed from attitude message
 239  *
 240  * @return Pitch angular speed (rad/s)
 241  */
 242 static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t *msg)
 243 {
 244     return _MAV_RETURN_float(msg, 20);
 245 }
 246
 247 /**
 248  * @brief Get field yawspeed from attitude message
 249  *
 250  * @return Yaw angular speed (rad/s)
 251  */
 252 static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t *msg)
 253 {
 254     return _MAV_RETURN_float(msg, 24);
 255 }
 256
 257 /**
 258  * @brief Decode a attitude message into a struct
 259  *
 260  * @param msg The message to decode
 261  * @param attitude C-struct to decode the message contents into
 262  */
 263 static inline void mavlink_msg_attitude_decode(const mavlink_message_t *msg, mavlink_attitude_t *attitude)
 264 {
 265 #if MAVLINK_NEED_BYTE_SWAP
 266     attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
 267     attitude->roll       = mavlink_msg_attitude_get_roll(msg);
 268     attitude->pitch      = mavlink_msg_attitude_get_pitch(msg);
 269     attitude->yaw        = mavlink_msg_attitude_get_yaw(msg);
 270     attitude->rollspeed  = mavlink_msg_attitude_get_rollspeed(msg);
 271     attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
 272     attitude->yawspeed   = mavlink_msg_attitude_get_yawspeed(msg);
 273 #else
 274     memcpy(attitude, _MAV_PAYLOAD(msg), 28);
 275 #endif
 276 }