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

   1 // MESSAGE ATTITUDE_QUATERNION PACKING
   2
   3 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31
   4
   5 typedef struct __mavlink_attitude_quaternion_t {
   6     uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   7     float    q1; ///< Quaternion component 1
   8     float    q2; ///< Quaternion component 2
   9     float    q3; ///< Quaternion component 3
  10     float    q4; ///< Quaternion component 4
  11     float    rollspeed; ///< Roll angular speed (rad/s)
  12     float    pitchspeed; ///< Pitch angular speed (rad/s)
  13     float    yawspeed; ///< Yaw angular speed (rad/s)
  14 } mavlink_attitude_quaternion_t;
  15
  16 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
  17 #define MAVLINK_MSG_ID_31_LEN                  32
  18
  19
  20 #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION \
  21     { \
  22         "ATTITUDE_QUATERNION", \
  23         8, \
  24         { \
  25             { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
  26             { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
  27             { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
  28             { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
  29             { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
  30             { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
  31             { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
  32             { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
  33         } \
  34     }
  35
  36
  37 /**
  38  * @brief Pack a attitude_quaternion message
  39  * @param system_id ID of this system
  40  * @param component_id ID of this component (e.g. 200 for IMU)
  41  * @param msg The MAVLink message to compress the data into
  42  *
  43  * @param time_boot_ms Timestamp (milliseconds since system boot)
  44  * @param q1 Quaternion component 1
  45  * @param q2 Quaternion component 2
  46  * @param q3 Quaternion component 3
  47  * @param q4 Quaternion component 4
  48  * @param rollspeed Roll angular speed (rad/s)
  49  * @param pitchspeed Pitch angular speed (rad/s)
  50  * @param yawspeed Yaw angular speed (rad/s)
  51  * @return length of the message in bytes (excluding serial stream start sign)
  52  */
  53 static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  54                                                             uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
  55 {
  56 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  57     char buf[32];
  58     _mav_put_uint32_t(buf, 0, time_boot_ms);
  59     _mav_put_float(buf, 4, q1);
  60     _mav_put_float(buf, 8, q2);
  61     _mav_put_float(buf, 12, q3);
  62     _mav_put_float(buf, 16, q4);
  63     _mav_put_float(buf, 20, rollspeed);
  64     _mav_put_float(buf, 24, pitchspeed);
  65     _mav_put_float(buf, 28, yawspeed);
  66
  67     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
  68 #else
  69     mavlink_attitude_quaternion_t packet;
  70     packet.time_boot_ms = time_boot_ms;
  71     packet.q1 = q1;
  72     packet.q2 = q2;
  73     packet.q3 = q3;
  74     packet.q4 = q4;
  75     packet.rollspeed  = rollspeed;
  76     packet.pitchspeed = pitchspeed;
  77     packet.yawspeed   = yawspeed;
  78
  79     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
  80 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  81
  82     msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
  83     return mavlink_finalize_message(msg, system_id, component_id, 32, 246);
  84 }
  85
  86 /**
  87  * @brief Pack a attitude_quaternion message on a channel
  88  * @param system_id ID of this system
  89  * @param component_id ID of this component (e.g. 200 for IMU)
  90  * @param chan The MAVLink channel this message was sent over
  91  * @param msg The MAVLink message to compress the data into
  92  * @param time_boot_ms Timestamp (milliseconds since system boot)
  93  * @param q1 Quaternion component 1
  94  * @param q2 Quaternion component 2
  95  * @param q3 Quaternion component 3
  96  * @param q4 Quaternion component 4
  97  * @param rollspeed Roll angular speed (rad/s)
  98  * @param pitchspeed Pitch angular speed (rad/s)
  99  * @param yawspeed Yaw angular speed (rad/s)
 100  * @return length of the message in bytes (excluding serial stream start sign)
 101  */
 102 static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 103                                                                  mavlink_message_t *msg,
 104                                                                  uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
 105 {
 106 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 107     char buf[32];
 108     _mav_put_uint32_t(buf, 0, time_boot_ms);
 109     _mav_put_float(buf, 4, q1);
 110     _mav_put_float(buf, 8, q2);
 111     _mav_put_float(buf, 12, q3);
 112     _mav_put_float(buf, 16, q4);
 113     _mav_put_float(buf, 20, rollspeed);
 114     _mav_put_float(buf, 24, pitchspeed);
 115     _mav_put_float(buf, 28, yawspeed);
 116
 117     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
 118 #else
 119     mavlink_attitude_quaternion_t packet;
 120     packet.time_boot_ms = time_boot_ms;
 121     packet.q1 = q1;
 122     packet.q2 = q2;
 123     packet.q3 = q3;
 124     packet.q4 = q4;
 125     packet.rollspeed  = rollspeed;
 126     packet.pitchspeed = pitchspeed;
 127     packet.yawspeed   = yawspeed;
 128
 129     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
 130 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 131
 132     msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
 133     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 246);
 134 }
 135
 136 /**
 137  * @brief Encode a attitude_quaternion struct into a message
 138  *
 139  * @param system_id ID of this system
 140  * @param component_id ID of this component (e.g. 200 for IMU)
 141  * @param msg The MAVLink message to compress the data into
 142  * @param attitude_quaternion C-struct to read the message contents from
 143  */
 144 static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_attitude_quaternion_t *attitude_quaternion)
 145 {
 146     return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
 147 }
 148
 149 /**
 150  * @brief Send a attitude_quaternion message
 151  * @param chan MAVLink channel to send the message
 152  *
 153  * @param time_boot_ms Timestamp (milliseconds since system boot)
 154  * @param q1 Quaternion component 1
 155  * @param q2 Quaternion component 2
 156  * @param q3 Quaternion component 3
 157  * @param q4 Quaternion component 4
 158  * @param rollspeed Roll angular speed (rad/s)
 159  * @param pitchspeed Pitch angular speed (rad/s)
 160  * @param yawspeed Yaw angular speed (rad/s)
 161  */
 162 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 163
 164 static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
 165 {
 166 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 167     char buf[32];
 168     _mav_put_uint32_t(buf, 0, time_boot_ms);
 169     _mav_put_float(buf, 4, q1);
 170     _mav_put_float(buf, 8, q2);
 171     _mav_put_float(buf, 12, q3);
 172     _mav_put_float(buf, 16, q4);
 173     _mav_put_float(buf, 20, rollspeed);
 174     _mav_put_float(buf, 24, pitchspeed);
 175     _mav_put_float(buf, 28, yawspeed);
 176
 177     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, 32, 246);
 178 #else
 179     mavlink_attitude_quaternion_t packet;
 180     packet.time_boot_ms = time_boot_ms;
 181     packet.q1 = q1;
 182     packet.q2 = q2;
 183     packet.q3 = q3;
 184     packet.q4 = q4;
 185     packet.rollspeed  = rollspeed;
 186     packet.pitchspeed = pitchspeed;
 187     packet.yawspeed   = yawspeed;
 188
 189     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, 32, 246);
 190 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 191 }
 192
 193 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 194
 195 // MESSAGE ATTITUDE_QUATERNION UNPACKING
 196
 197
 198 /**
 199  * @brief Get field time_boot_ms from attitude_quaternion message
 200  *
 201  * @return Timestamp (milliseconds since system boot)
 202  */
 203 static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t *msg)
 204 {
 205     return _MAV_RETURN_uint32_t(msg, 0);
 206 }
 207
 208 /**
 209  * @brief Get field q1 from attitude_quaternion message
 210  *
 211  * @return Quaternion component 1
 212  */
 213 static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t *msg)
 214 {
 215     return _MAV_RETURN_float(msg, 4);
 216 }
 217
 218 /**
 219  * @brief Get field q2 from attitude_quaternion message
 220  *
 221  * @return Quaternion component 2
 222  */
 223 static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t *msg)
 224 {
 225     return _MAV_RETURN_float(msg, 8);
 226 }
 227
 228 /**
 229  * @brief Get field q3 from attitude_quaternion message
 230  *
 231  * @return Quaternion component 3
 232  */
 233 static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t *msg)
 234 {
 235     return _MAV_RETURN_float(msg, 12);
 236 }
 237
 238 /**
 239  * @brief Get field q4 from attitude_quaternion message
 240  *
 241  * @return Quaternion component 4
 242  */
 243 static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t *msg)
 244 {
 245     return _MAV_RETURN_float(msg, 16);
 246 }
 247
 248 /**
 249  * @brief Get field rollspeed from attitude_quaternion message
 250  *
 251  * @return Roll angular speed (rad/s)
 252  */
 253 static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t *msg)
 254 {
 255     return _MAV_RETURN_float(msg, 20);
 256 }
 257
 258 /**
 259  * @brief Get field pitchspeed from attitude_quaternion message
 260  *
 261  * @return Pitch angular speed (rad/s)
 262  */
 263 static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t *msg)
 264 {
 265     return _MAV_RETURN_float(msg, 24);
 266 }
 267
 268 /**
 269  * @brief Get field yawspeed from attitude_quaternion message
 270  *
 271  * @return Yaw angular speed (rad/s)
 272  */
 273 static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t *msg)
 274 {
 275     return _MAV_RETURN_float(msg, 28);
 276 }
 277
 278 /**
 279  * @brief Decode a attitude_quaternion message into a struct
 280  *
 281  * @param msg The message to decode
 282  * @param attitude_quaternion C-struct to decode the message contents into
 283  */
 284 static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t *msg, mavlink_attitude_quaternion_t *attitude_quaternion)
 285 {
 286 #if MAVLINK_NEED_BYTE_SWAP
 287     attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
 288     attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
 289     attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
 290     attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
 291     attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
 292     attitude_quaternion->rollspeed  = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
 293     attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
 294     attitude_quaternion->yawspeed   = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
 295 #else
 296     memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), 32);
 297 #endif
 298 }