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

   1 // MESSAGE HIL_STATE PACKING
   2
   3 #define MAVLINK_MSG_ID_HIL_STATE 90
   4
   5 typedef struct __mavlink_hil_state_t {
   6     uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds 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     int32_t  lat; ///< Latitude, expressed as * 1E7
  14     int32_t  lon; ///< Longitude, expressed as * 1E7
  15     int32_t  alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
  16     int16_t  vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
  17     int16_t  vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
  18     int16_t  vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
  19     int16_t  xacc; ///< X acceleration (mg)
  20     int16_t  yacc; ///< Y acceleration (mg)
  21     int16_t  zacc; ///< Z acceleration (mg)
  22 } mavlink_hil_state_t;
  23
  24 #define MAVLINK_MSG_ID_HIL_STATE_LEN 56
  25 #define MAVLINK_MSG_ID_90_LEN        56
  26
  27
  28 #define MAVLINK_MESSAGE_INFO_HIL_STATE \
  29     { \
  30         "HIL_STATE", \
  31         16, \
  32         { \
  33             { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
  34             { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
  35             { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
  36             { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
  37             { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
  38             { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
  39             { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
  40             { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
  41             { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
  42             { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
  43             { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
  44             { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
  45             { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
  46             { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
  47             { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
  48             { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
  49         } \
  50     }
  51
  52
  53 /**
  54  * @brief Pack a hil_state message
  55  * @param system_id ID of this system
  56  * @param component_id ID of this component (e.g. 200 for IMU)
  57  * @param msg The MAVLink message to compress the data into
  58  *
  59  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  60  * @param roll Roll angle (rad)
  61  * @param pitch Pitch angle (rad)
  62  * @param yaw Yaw angle (rad)
  63  * @param rollspeed Roll angular speed (rad/s)
  64  * @param pitchspeed Pitch angular speed (rad/s)
  65  * @param yawspeed Yaw angular speed (rad/s)
  66  * @param lat Latitude, expressed as * 1E7
  67  * @param lon Longitude, expressed as * 1E7
  68  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
  69  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
  70  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
  71  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
  72  * @param xacc X acceleration (mg)
  73  * @param yacc Y acceleration (mg)
  74  * @param zacc Z acceleration (mg)
  75  * @return length of the message in bytes (excluding serial stream start sign)
  76  */
  77 static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  78                                                   uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
  79 {
  80 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  81     char buf[56];
  82     _mav_put_uint64_t(buf, 0, time_usec);
  83     _mav_put_float(buf, 8, roll);
  84     _mav_put_float(buf, 12, pitch);
  85     _mav_put_float(buf, 16, yaw);
  86     _mav_put_float(buf, 20, rollspeed);
  87     _mav_put_float(buf, 24, pitchspeed);
  88     _mav_put_float(buf, 28, yawspeed);
  89     _mav_put_int32_t(buf, 32, lat);
  90     _mav_put_int32_t(buf, 36, lon);
  91     _mav_put_int32_t(buf, 40, alt);
  92     _mav_put_int16_t(buf, 44, vx);
  93     _mav_put_int16_t(buf, 46, vy);
  94     _mav_put_int16_t(buf, 48, vz);
  95     _mav_put_int16_t(buf, 50, xacc);
  96     _mav_put_int16_t(buf, 52, yacc);
  97     _mav_put_int16_t(buf, 54, zacc);
  98
  99     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 56);
 100 #else
 101     mavlink_hil_state_t packet;
 102     packet.time_usec  = time_usec;
 103     packet.roll = roll;
 104     packet.pitch      = pitch;
 105     packet.yaw = yaw;
 106     packet.rollspeed  = rollspeed;
 107     packet.pitchspeed = pitchspeed;
 108     packet.yawspeed   = yawspeed;
 109     packet.lat  = lat;
 110     packet.lon  = lon;
 111     packet.alt  = alt;
 112     packet.vx   = vx;
 113     packet.vy   = vy;
 114     packet.vz   = vz;
 115     packet.xacc = xacc;
 116     packet.yacc = yacc;
 117     packet.zacc = zacc;
 118
 119     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 56);
 120 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 121
 122     msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
 123     return mavlink_finalize_message(msg, system_id, component_id, 56, 183);
 124 }
 125
 126 /**
 127  * @brief Pack a hil_state message on a channel
 128  * @param system_id ID of this system
 129  * @param component_id ID of this component (e.g. 200 for IMU)
 130  * @param chan The MAVLink channel this message was sent over
 131  * @param msg The MAVLink message to compress the data into
 132  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 133  * @param roll Roll angle (rad)
 134  * @param pitch Pitch angle (rad)
 135  * @param yaw Yaw angle (rad)
 136  * @param rollspeed Roll angular speed (rad/s)
 137  * @param pitchspeed Pitch angular speed (rad/s)
 138  * @param yawspeed Yaw angular speed (rad/s)
 139  * @param lat Latitude, expressed as * 1E7
 140  * @param lon Longitude, expressed as * 1E7
 141  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
 142  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 143  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 144  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 145  * @param xacc X acceleration (mg)
 146  * @param yacc Y acceleration (mg)
 147  * @param zacc Z acceleration (mg)
 148  * @return length of the message in bytes (excluding serial stream start sign)
 149  */
 150 static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 151                                                        mavlink_message_t *msg,
 152                                                        uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 153 {
 154 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 155     char buf[56];
 156     _mav_put_uint64_t(buf, 0, time_usec);
 157     _mav_put_float(buf, 8, roll);
 158     _mav_put_float(buf, 12, pitch);
 159     _mav_put_float(buf, 16, yaw);
 160     _mav_put_float(buf, 20, rollspeed);
 161     _mav_put_float(buf, 24, pitchspeed);
 162     _mav_put_float(buf, 28, yawspeed);
 163     _mav_put_int32_t(buf, 32, lat);
 164     _mav_put_int32_t(buf, 36, lon);
 165     _mav_put_int32_t(buf, 40, alt);
 166     _mav_put_int16_t(buf, 44, vx);
 167     _mav_put_int16_t(buf, 46, vy);
 168     _mav_put_int16_t(buf, 48, vz);
 169     _mav_put_int16_t(buf, 50, xacc);
 170     _mav_put_int16_t(buf, 52, yacc);
 171     _mav_put_int16_t(buf, 54, zacc);
 172
 173     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 56);
 174 #else
 175     mavlink_hil_state_t packet;
 176     packet.time_usec  = time_usec;
 177     packet.roll = roll;
 178     packet.pitch      = pitch;
 179     packet.yaw = yaw;
 180     packet.rollspeed  = rollspeed;
 181     packet.pitchspeed = pitchspeed;
 182     packet.yawspeed   = yawspeed;
 183     packet.lat  = lat;
 184     packet.lon  = lon;
 185     packet.alt  = alt;
 186     packet.vx   = vx;
 187     packet.vy   = vy;
 188     packet.vz   = vz;
 189     packet.xacc = xacc;
 190     packet.yacc = yacc;
 191     packet.zacc = zacc;
 192
 193     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 56);
 194 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 195
 196     msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
 197     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 56, 183);
 198 }
 199
 200 /**
 201  * @brief Encode a hil_state struct into a message
 202  *
 203  * @param system_id ID of this system
 204  * @param component_id ID of this component (e.g. 200 for IMU)
 205  * @param msg The MAVLink message to compress the data into
 206  * @param hil_state C-struct to read the message contents from
 207  */
 208 static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_hil_state_t *hil_state)
 209 {
 210     return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
 211 }
 212
 213 /**
 214  * @brief Send a hil_state message
 215  * @param chan MAVLink channel to send the message
 216  *
 217  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 218  * @param roll Roll angle (rad)
 219  * @param pitch Pitch angle (rad)
 220  * @param yaw Yaw angle (rad)
 221  * @param rollspeed Roll angular speed (rad/s)
 222  * @param pitchspeed Pitch angular speed (rad/s)
 223  * @param yawspeed Yaw angular speed (rad/s)
 224  * @param lat Latitude, expressed as * 1E7
 225  * @param lon Longitude, expressed as * 1E7
 226  * @param alt Altitude in meters, expressed as * 1000 (millimeters)
 227  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 228  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 229  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 230  * @param xacc X acceleration (mg)
 231  * @param yacc Y acceleration (mg)
 232  * @param zacc Z acceleration (mg)
 233  */
 234 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 235
 236 static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
 237 {
 238 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 239     char buf[56];
 240     _mav_put_uint64_t(buf, 0, time_usec);
 241     _mav_put_float(buf, 8, roll);
 242     _mav_put_float(buf, 12, pitch);
 243     _mav_put_float(buf, 16, yaw);
 244     _mav_put_float(buf, 20, rollspeed);
 245     _mav_put_float(buf, 24, pitchspeed);
 246     _mav_put_float(buf, 28, yawspeed);
 247     _mav_put_int32_t(buf, 32, lat);
 248     _mav_put_int32_t(buf, 36, lon);
 249     _mav_put_int32_t(buf, 40, alt);
 250     _mav_put_int16_t(buf, 44, vx);
 251     _mav_put_int16_t(buf, 46, vy);
 252     _mav_put_int16_t(buf, 48, vz);
 253     _mav_put_int16_t(buf, 50, xacc);
 254     _mav_put_int16_t(buf, 52, yacc);
 255     _mav_put_int16_t(buf, 54, zacc);
 256
 257     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, 56, 183);
 258 #else
 259     mavlink_hil_state_t packet;
 260     packet.time_usec  = time_usec;
 261     packet.roll = roll;
 262     packet.pitch      = pitch;
 263     packet.yaw = yaw;
 264     packet.rollspeed  = rollspeed;
 265     packet.pitchspeed = pitchspeed;
 266     packet.yawspeed   = yawspeed;
 267     packet.lat  = lat;
 268     packet.lon  = lon;
 269     packet.alt  = alt;
 270     packet.vx   = vx;
 271     packet.vy   = vy;
 272     packet.vz   = vz;
 273     packet.xacc = xacc;
 274     packet.yacc = yacc;
 275     packet.zacc = zacc;
 276
 277     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, 56, 183);
 278 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 279 }
 280
 281 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 282
 283 // MESSAGE HIL_STATE UNPACKING
 284
 285
 286 /**
 287  * @brief Get field time_usec from hil_state message
 288  *
 289  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 290  */
 291 static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t *msg)
 292 {
 293     return _MAV_RETURN_uint64_t(msg, 0);
 294 }
 295
 296 /**
 297  * @brief Get field roll from hil_state message
 298  *
 299  * @return Roll angle (rad)
 300  */
 301 static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t *msg)
 302 {
 303     return _MAV_RETURN_float(msg, 8);
 304 }
 305
 306 /**
 307  * @brief Get field pitch from hil_state message
 308  *
 309  * @return Pitch angle (rad)
 310  */
 311 static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t *msg)
 312 {
 313     return _MAV_RETURN_float(msg, 12);
 314 }
 315
 316 /**
 317  * @brief Get field yaw from hil_state message
 318  *
 319  * @return Yaw angle (rad)
 320  */
 321 static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t *msg)
 322 {
 323     return _MAV_RETURN_float(msg, 16);
 324 }
 325
 326 /**
 327  * @brief Get field rollspeed from hil_state message
 328  *
 329  * @return Roll angular speed (rad/s)
 330  */
 331 static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t *msg)
 332 {
 333     return _MAV_RETURN_float(msg, 20);
 334 }
 335
 336 /**
 337  * @brief Get field pitchspeed from hil_state message
 338  *
 339  * @return Pitch angular speed (rad/s)
 340  */
 341 static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t *msg)
 342 {
 343     return _MAV_RETURN_float(msg, 24);
 344 }
 345
 346 /**
 347  * @brief Get field yawspeed from hil_state message
 348  *
 349  * @return Yaw angular speed (rad/s)
 350  */
 351 static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t *msg)
 352 {
 353     return _MAV_RETURN_float(msg, 28);
 354 }
 355
 356 /**
 357  * @brief Get field lat from hil_state message
 358  *
 359  * @return Latitude, expressed as * 1E7
 360  */
 361 static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t *msg)
 362 {
 363     return _MAV_RETURN_int32_t(msg, 32);
 364 }
 365
 366 /**
 367  * @brief Get field lon from hil_state message
 368  *
 369  * @return Longitude, expressed as * 1E7
 370  */
 371 static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t *msg)
 372 {
 373     return _MAV_RETURN_int32_t(msg, 36);
 374 }
 375
 376 /**
 377  * @brief Get field alt from hil_state message
 378  *
 379  * @return Altitude in meters, expressed as * 1000 (millimeters)
 380  */
 381 static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t *msg)
 382 {
 383     return _MAV_RETURN_int32_t(msg, 40);
 384 }
 385
 386 /**
 387  * @brief Get field vx from hil_state message
 388  *
 389  * @return Ground X Speed (Latitude), expressed as m/s * 100
 390  */
 391 static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t *msg)
 392 {
 393     return _MAV_RETURN_int16_t(msg, 44);
 394 }
 395
 396 /**
 397  * @brief Get field vy from hil_state message
 398  *
 399  * @return Ground Y Speed (Longitude), expressed as m/s * 100
 400  */
 401 static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t *msg)
 402 {
 403     return _MAV_RETURN_int16_t(msg, 46);
 404 }
 405
 406 /**
 407  * @brief Get field vz from hil_state message
 408  *
 409  * @return Ground Z Speed (Altitude), expressed as m/s * 100
 410  */
 411 static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t *msg)
 412 {
 413     return _MAV_RETURN_int16_t(msg, 48);
 414 }
 415
 416 /**
 417  * @brief Get field xacc from hil_state message
 418  *
 419  * @return X acceleration (mg)
 420  */
 421 static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t *msg)
 422 {
 423     return _MAV_RETURN_int16_t(msg, 50);
 424 }
 425
 426 /**
 427  * @brief Get field yacc from hil_state message
 428  *
 429  * @return Y acceleration (mg)
 430  */
 431 static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t *msg)
 432 {
 433     return _MAV_RETURN_int16_t(msg, 52);
 434 }
 435
 436 /**
 437  * @brief Get field zacc from hil_state message
 438  *
 439  * @return Z acceleration (mg)
 440  */
 441 static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t *msg)
 442 {
 443     return _MAV_RETURN_int16_t(msg, 54);
 444 }
 445
 446 /**
 447  * @brief Decode a hil_state message into a struct
 448  *
 449  * @param msg The message to decode
 450  * @param hil_state C-struct to decode the message contents into
 451  */
 452 static inline void mavlink_msg_hil_state_decode(const mavlink_message_t *msg, mavlink_hil_state_t *hil_state)
 453 {
 454 #if MAVLINK_NEED_BYTE_SWAP
 455     hil_state->time_usec  = mavlink_msg_hil_state_get_time_usec(msg);
 456     hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
 457     hil_state->pitch      = mavlink_msg_hil_state_get_pitch(msg);
 458     hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
 459     hil_state->rollspeed  = mavlink_msg_hil_state_get_rollspeed(msg);
 460     hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
 461     hil_state->yawspeed   = mavlink_msg_hil_state_get_yawspeed(msg);
 462     hil_state->lat  = mavlink_msg_hil_state_get_lat(msg);
 463     hil_state->lon  = mavlink_msg_hil_state_get_lon(msg);
 464     hil_state->alt  = mavlink_msg_hil_state_get_alt(msg);
 465     hil_state->vx   = mavlink_msg_hil_state_get_vx(msg);
 466     hil_state->vy   = mavlink_msg_hil_state_get_vy(msg);
 467     hil_state->vz   = mavlink_msg_hil_state_get_vz(msg);
 468     hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
 469     hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
 470     hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
 471 #else
 472     memcpy(hil_state, _MAV_PAYLOAD(msg), 56);
 473 #endif
 474 }