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

   1 // MESSAGE RAW_IMU PACKING
   2
   3 #define MAVLINK_MSG_ID_RAW_IMU 27
   4
   5 typedef struct __mavlink_raw_imu_t {
   6     uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
   7     int16_t  xacc; ///< X acceleration (raw)
   8     int16_t  yacc; ///< Y acceleration (raw)
   9     int16_t  zacc; ///< Z acceleration (raw)
  10     int16_t  xgyro; ///< Angular speed around X axis (raw)
  11     int16_t  ygyro; ///< Angular speed around Y axis (raw)
  12     int16_t  zgyro; ///< Angular speed around Z axis (raw)
  13     int16_t  xmag; ///< X Magnetic field (raw)
  14     int16_t  ymag; ///< Y Magnetic field (raw)
  15     int16_t  zmag; ///< Z Magnetic field (raw)
  16 } mavlink_raw_imu_t;
  17
  18 #define MAVLINK_MSG_ID_RAW_IMU_LEN 26
  19 #define MAVLINK_MSG_ID_27_LEN      26
  20
  21
  22 #define MAVLINK_MESSAGE_INFO_RAW_IMU \
  23     { \
  24         "RAW_IMU", \
  25         10, \
  26         { \
  27             { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
  28             { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
  29             { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
  30             { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
  31             { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
  32             { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
  33             { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
  34             { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
  35             { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
  36             { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
  37         } \
  38     }
  39
  40
  41 /**
  42  * @brief Pack a raw_imu message
  43  * @param system_id ID of this system
  44  * @param component_id ID of this component (e.g. 200 for IMU)
  45  * @param msg The MAVLink message to compress the data into
  46  *
  47  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  48  * @param xacc X acceleration (raw)
  49  * @param yacc Y acceleration (raw)
  50  * @param zacc Z acceleration (raw)
  51  * @param xgyro Angular speed around X axis (raw)
  52  * @param ygyro Angular speed around Y axis (raw)
  53  * @param zgyro Angular speed around Z axis (raw)
  54  * @param xmag X Magnetic field (raw)
  55  * @param ymag Y Magnetic field (raw)
  56  * @param zmag Z Magnetic field (raw)
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  60                                                 uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63     char buf[26];
  64     _mav_put_uint64_t(buf, 0, time_usec);
  65     _mav_put_int16_t(buf, 8, xacc);
  66     _mav_put_int16_t(buf, 10, yacc);
  67     _mav_put_int16_t(buf, 12, zacc);
  68     _mav_put_int16_t(buf, 14, xgyro);
  69     _mav_put_int16_t(buf, 16, ygyro);
  70     _mav_put_int16_t(buf, 18, zgyro);
  71     _mav_put_int16_t(buf, 20, xmag);
  72     _mav_put_int16_t(buf, 22, ymag);
  73     _mav_put_int16_t(buf, 24, zmag);
  74
  75     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
  76 #else
  77     mavlink_raw_imu_t packet;
  78     packet.time_usec = time_usec;
  79     packet.xacc  = xacc;
  80     packet.yacc  = yacc;
  81     packet.zacc  = zacc;
  82     packet.xgyro = xgyro;
  83     packet.ygyro = ygyro;
  84     packet.zgyro = zgyro;
  85     packet.xmag  = xmag;
  86     packet.ymag  = ymag;
  87     packet.zmag  = zmag;
  88
  89     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
  90 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  91
  92     msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
  93     return mavlink_finalize_message(msg, system_id, component_id, 26, 144);
  94 }
  95
  96 /**
  97  * @brief Pack a raw_imu message on a channel
  98  * @param system_id ID of this system
  99  * @param component_id ID of this component (e.g. 200 for IMU)
 100  * @param chan The MAVLink channel this message was sent over
 101  * @param msg The MAVLink message to compress the data into
 102  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 103  * @param xacc X acceleration (raw)
 104  * @param yacc Y acceleration (raw)
 105  * @param zacc Z acceleration (raw)
 106  * @param xgyro Angular speed around X axis (raw)
 107  * @param ygyro Angular speed around Y axis (raw)
 108  * @param zgyro Angular speed around Z axis (raw)
 109  * @param xmag X Magnetic field (raw)
 110  * @param ymag Y Magnetic field (raw)
 111  * @param zmag Z Magnetic field (raw)
 112  * @return length of the message in bytes (excluding serial stream start sign)
 113  */
 114 static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 115                                                      mavlink_message_t *msg,
 116                                                      uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
 117 {
 118 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 119     char buf[26];
 120     _mav_put_uint64_t(buf, 0, time_usec);
 121     _mav_put_int16_t(buf, 8, xacc);
 122     _mav_put_int16_t(buf, 10, yacc);
 123     _mav_put_int16_t(buf, 12, zacc);
 124     _mav_put_int16_t(buf, 14, xgyro);
 125     _mav_put_int16_t(buf, 16, ygyro);
 126     _mav_put_int16_t(buf, 18, zgyro);
 127     _mav_put_int16_t(buf, 20, xmag);
 128     _mav_put_int16_t(buf, 22, ymag);
 129     _mav_put_int16_t(buf, 24, zmag);
 130
 131     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
 132 #else
 133     mavlink_raw_imu_t packet;
 134     packet.time_usec = time_usec;
 135     packet.xacc  = xacc;
 136     packet.yacc  = yacc;
 137     packet.zacc  = zacc;
 138     packet.xgyro = xgyro;
 139     packet.ygyro = ygyro;
 140     packet.zgyro = zgyro;
 141     packet.xmag  = xmag;
 142     packet.ymag  = ymag;
 143     packet.zmag  = zmag;
 144
 145     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
 146 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 147
 148     msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
 149     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 144);
 150 }
 151
 152 /**
 153  * @brief Encode a raw_imu struct into a message
 154  *
 155  * @param system_id ID of this system
 156  * @param component_id ID of this component (e.g. 200 for IMU)
 157  * @param msg The MAVLink message to compress the data into
 158  * @param raw_imu C-struct to read the message contents from
 159  */
 160 static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_raw_imu_t *raw_imu)
 161 {
 162     return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
 163 }
 164
 165 /**
 166  * @brief Send a raw_imu message
 167  * @param chan MAVLink channel to send the message
 168  *
 169  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 170  * @param xacc X acceleration (raw)
 171  * @param yacc Y acceleration (raw)
 172  * @param zacc Z acceleration (raw)
 173  * @param xgyro Angular speed around X axis (raw)
 174  * @param ygyro Angular speed around Y axis (raw)
 175  * @param zgyro Angular speed around Z axis (raw)
 176  * @param xmag X Magnetic field (raw)
 177  * @param ymag Y Magnetic field (raw)
 178  * @param zmag Z Magnetic field (raw)
 179  */
 180 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 181
 182 static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
 183 {
 184 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 185     char buf[26];
 186     _mav_put_uint64_t(buf, 0, time_usec);
 187     _mav_put_int16_t(buf, 8, xacc);
 188     _mav_put_int16_t(buf, 10, yacc);
 189     _mav_put_int16_t(buf, 12, zacc);
 190     _mav_put_int16_t(buf, 14, xgyro);
 191     _mav_put_int16_t(buf, 16, ygyro);
 192     _mav_put_int16_t(buf, 18, zgyro);
 193     _mav_put_int16_t(buf, 20, xmag);
 194     _mav_put_int16_t(buf, 22, ymag);
 195     _mav_put_int16_t(buf, 24, zmag);
 196
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, 26, 144);
 198 #else
 199     mavlink_raw_imu_t packet;
 200     packet.time_usec = time_usec;
 201     packet.xacc  = xacc;
 202     packet.yacc  = yacc;
 203     packet.zacc  = zacc;
 204     packet.xgyro = xgyro;
 205     packet.ygyro = ygyro;
 206     packet.zgyro = zgyro;
 207     packet.xmag  = xmag;
 208     packet.ymag  = ymag;
 209     packet.zmag  = zmag;
 210
 211     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, 26, 144);
 212 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 213 }
 214
 215 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 216
 217 // MESSAGE RAW_IMU UNPACKING
 218
 219
 220 /**
 221  * @brief Get field time_usec from raw_imu message
 222  *
 223  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 224  */
 225 static inline uint64_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t *msg)
 226 {
 227     return _MAV_RETURN_uint64_t(msg, 0);
 228 }
 229
 230 /**
 231  * @brief Get field xacc from raw_imu message
 232  *
 233  * @return X acceleration (raw)
 234  */
 235 static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t *msg)
 236 {
 237     return _MAV_RETURN_int16_t(msg, 8);
 238 }
 239
 240 /**
 241  * @brief Get field yacc from raw_imu message
 242  *
 243  * @return Y acceleration (raw)
 244  */
 245 static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t *msg)
 246 {
 247     return _MAV_RETURN_int16_t(msg, 10);
 248 }
 249
 250 /**
 251  * @brief Get field zacc from raw_imu message
 252  *
 253  * @return Z acceleration (raw)
 254  */
 255 static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t *msg)
 256 {
 257     return _MAV_RETURN_int16_t(msg, 12);
 258 }
 259
 260 /**
 261  * @brief Get field xgyro from raw_imu message
 262  *
 263  * @return Angular speed around X axis (raw)
 264  */
 265 static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t *msg)
 266 {
 267     return _MAV_RETURN_int16_t(msg, 14);
 268 }
 269
 270 /**
 271  * @brief Get field ygyro from raw_imu message
 272  *
 273  * @return Angular speed around Y axis (raw)
 274  */
 275 static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t *msg)
 276 {
 277     return _MAV_RETURN_int16_t(msg, 16);
 278 }
 279
 280 /**
 281  * @brief Get field zgyro from raw_imu message
 282  *
 283  * @return Angular speed around Z axis (raw)
 284  */
 285 static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t *msg)
 286 {
 287     return _MAV_RETURN_int16_t(msg, 18);
 288 }
 289
 290 /**
 291  * @brief Get field xmag from raw_imu message
 292  *
 293  * @return X Magnetic field (raw)
 294  */
 295 static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t *msg)
 296 {
 297     return _MAV_RETURN_int16_t(msg, 20);
 298 }
 299
 300 /**
 301  * @brief Get field ymag from raw_imu message
 302  *
 303  * @return Y Magnetic field (raw)
 304  */
 305 static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t *msg)
 306 {
 307     return _MAV_RETURN_int16_t(msg, 22);
 308 }
 309
 310 /**
 311  * @brief Get field zmag from raw_imu message
 312  *
 313  * @return Z Magnetic field (raw)
 314  */
 315 static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t *msg)
 316 {
 317     return _MAV_RETURN_int16_t(msg, 24);
 318 }
 319
 320 /**
 321  * @brief Decode a raw_imu message into a struct
 322  *
 323  * @param msg The message to decode
 324  * @param raw_imu C-struct to decode the message contents into
 325  */
 326 static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t *msg, mavlink_raw_imu_t *raw_imu)
 327 {
 328 #if MAVLINK_NEED_BYTE_SWAP
 329     raw_imu->time_usec = mavlink_msg_raw_imu_get_time_usec(msg);
 330     raw_imu->xacc  = mavlink_msg_raw_imu_get_xacc(msg);
 331     raw_imu->yacc  = mavlink_msg_raw_imu_get_yacc(msg);
 332     raw_imu->zacc  = mavlink_msg_raw_imu_get_zacc(msg);
 333     raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg);
 334     raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg);
 335     raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg);
 336     raw_imu->xmag  = mavlink_msg_raw_imu_get_xmag(msg);
 337     raw_imu->ymag  = mavlink_msg_raw_imu_get_ymag(msg);
 338     raw_imu->zmag  = mavlink_msg_raw_imu_get_zmag(msg);
 339 #else
 340     memcpy(raw_imu, _MAV_PAYLOAD(msg), 26);
 341 #endif
 342 }