diff options
Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_attitude_quaternion.h')
| -rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_attitude_quaternion.h | 377 |
1 files changed, 377 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_attitude_quaternion.h b/ext/mavlink/include/mavlink/common/mavlink_msg_attitude_quaternion.h new file mode 100644 index 0000000..35170a7 --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_attitude_quaternion.h @@ -0,0 +1,377 @@ +// MESSAGE ATTITUDE_QUATERNION PACKING + +#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31 + +typedef struct __mavlink_attitude_quaternion_t +{ + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + float q1; ///< Quaternion component 1, w (1 in null-rotation) + float q2; ///< Quaternion component 2, x (0 in null-rotation) + float q3; ///< Quaternion component 3, y (0 in null-rotation) + float q4; ///< Quaternion component 4, z (0 in null-rotation) + float rollspeed; ///< Roll angular speed (rad/s) + float pitchspeed; ///< Pitch angular speed (rad/s) + float yawspeed; ///< Yaw angular speed (rad/s) +} mavlink_attitude_quaternion_t; + +#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32 +#define MAVLINK_MSG_ID_31_LEN 32 + +#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC 246 +#define MAVLINK_MSG_ID_31_CRC 246 + + + +#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \ + "ATTITUDE_QUATERNION", \ + 8, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \ + { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \ + { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \ + { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \ + { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \ + { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \ + { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \ + { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \ + } \ +} + + +/** + * @brief Pack a attitude_quaternion message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param q1 Quaternion component 1, w (1 in null-rotation) + * @param q2 Quaternion component 2, x (0 in null-rotation) + * @param q3 Quaternion component 3, y (0 in null-rotation) + * @param q4 Quaternion component 4, z (0 in null-rotation) + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, q1); + _mav_put_float(buf, 8, q2); + _mav_put_float(buf, 12, q3); + _mav_put_float(buf, 16, q4); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#else + mavlink_attitude_quaternion_t packet; + packet.time_boot_ms = time_boot_ms; + packet.q1 = q1; + packet.q2 = q2; + packet.q3 = q3; + packet.q4 = q4; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif +} + +/** + * @brief Pack a attitude_quaternion message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param q1 Quaternion component 1, w (1 in null-rotation) + * @param q2 Quaternion component 2, x (0 in null-rotation) + * @param q3 Quaternion component 3, y (0 in null-rotation) + * @param q4 Quaternion component 4, z (0 in null-rotation) + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, q1); + _mav_put_float(buf, 8, q2); + _mav_put_float(buf, 12, q3); + _mav_put_float(buf, 16, q4); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#else + mavlink_attitude_quaternion_t packet; + packet.time_boot_ms = time_boot_ms; + packet.q1 = q1; + packet.q2 = q2; + packet.q3 = q3; + packet.q4 = q4; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif +} + +/** + * @brief Encode a attitude_quaternion struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param attitude_quaternion C-struct to read the message contents from + */ +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) +{ + 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); +} + +/** + * @brief Encode a attitude_quaternion struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param attitude_quaternion C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion) +{ + return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, 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); +} + +/** + * @brief Send a attitude_quaternion message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param q1 Quaternion component 1, w (1 in null-rotation) + * @param q2 Quaternion component 2, x (0 in null-rotation) + * @param q3 Quaternion component 3, y (0 in null-rotation) + * @param q4 Quaternion component 4, z (0 in null-rotation) + * @param rollspeed Roll angular speed (rad/s) + * @param pitchspeed Pitch angular speed (rad/s) + * @param yawspeed Yaw angular speed (rad/s) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +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) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, q1); + _mav_put_float(buf, 8, q2); + _mav_put_float(buf, 12, q3); + _mav_put_float(buf, 16, q4); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif +#else + mavlink_attitude_quaternion_t packet; + packet.time_boot_ms = time_boot_ms; + packet.q1 = q1; + packet.q2 = q2; + packet.q3 = q3; + packet.q4 = q4; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, q1); + _mav_put_float(buf, 8, q2); + _mav_put_float(buf, 12, q3); + _mav_put_float(buf, 16, q4); + _mav_put_float(buf, 20, rollspeed); + _mav_put_float(buf, 24, pitchspeed); + _mav_put_float(buf, 28, yawspeed); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif +#else + mavlink_attitude_quaternion_t *packet = (mavlink_attitude_quaternion_t *)msgbuf; + packet->time_boot_ms = time_boot_ms; + packet->q1 = q1; + packet->q2 = q2; + packet->q3 = q3; + packet->q4 = q4; + packet->rollspeed = rollspeed; + packet->pitchspeed = pitchspeed; + packet->yawspeed = yawspeed; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE ATTITUDE_QUATERNION UNPACKING + + +/** + * @brief Get field time_boot_ms from attitude_quaternion message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field q1 from attitude_quaternion message + * + * @return Quaternion component 1, w (1 in null-rotation) + */ +static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field q2 from attitude_quaternion message + * + * @return Quaternion component 2, x (0 in null-rotation) + */ +static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field q3 from attitude_quaternion message + * + * @return Quaternion component 3, y (0 in null-rotation) + */ +static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field q4 from attitude_quaternion message + * + * @return Quaternion component 4, z (0 in null-rotation) + */ +static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field rollspeed from attitude_quaternion message + * + * @return Roll angular speed (rad/s) + */ +static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field pitchspeed from attitude_quaternion message + * + * @return Pitch angular speed (rad/s) + */ +static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field yawspeed from attitude_quaternion message + * + * @return Yaw angular speed (rad/s) + */ +static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a attitude_quaternion message into a struct + * + * @param msg The message to decode + * @param attitude_quaternion C-struct to decode the message contents into + */ +static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion) +{ +#if MAVLINK_NEED_BYTE_SWAP + attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg); + attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg); + attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg); + attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg); + attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg); + attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg); + attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg); + attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg); +#else + memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN); +#endif +} |