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// MESSAGE SCALED_IMU PACKING
#define MAVLINK_MSG_ID_SCALED_IMU 26
typedef struct __mavlink_scaled_imu_t
{
uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
int16_t xacc; ///< X acceleration (mg)
int16_t yacc; ///< Y acceleration (mg)
int16_t zacc; ///< Z acceleration (mg)
int16_t xgyro; ///< Angular speed around X axis (millirad /sec)
int16_t ygyro; ///< Angular speed around Y axis (millirad /sec)
int16_t zgyro; ///< Angular speed around Z axis (millirad /sec)
int16_t xmag; ///< X Magnetic field (milli tesla)
int16_t ymag; ///< Y Magnetic field (milli tesla)
int16_t zmag; ///< Z Magnetic field (milli tesla)
} mavlink_scaled_imu_t;
#define MAVLINK_MSG_ID_SCALED_IMU_LEN 22
#define MAVLINK_MSG_ID_26_LEN 22
#define MAVLINK_MSG_ID_SCALED_IMU_CRC 170
#define MAVLINK_MSG_ID_26_CRC 170
#define MAVLINK_MESSAGE_INFO_SCALED_IMU { \
"SCALED_IMU", \
10, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu_t, time_boot_ms) }, \
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu_t, zgyro) }, \
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu_t, xmag) }, \
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu_t, ymag) }, \
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu_t, zmag) }, \
} \
}
/**
* @brief Pack a scaled_imu 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 xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @param xgyro Angular speed around X axis (millirad /sec)
* @param ygyro Angular speed around Y axis (millirad /sec)
* @param zgyro Angular speed around Z axis (millirad /sec)
* @param xmag X Magnetic field (milli tesla)
* @param ymag Y Magnetic field (milli tesla)
* @param zmag Z Magnetic field (milli tesla)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_boot_ms, 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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
#else
mavlink_scaled_imu_t packet;
packet.time_boot_ms = time_boot_ms;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU_LEN);
#endif
}
/**
* @brief Pack a scaled_imu 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 xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @param xgyro Angular speed around X axis (millirad /sec)
* @param ygyro Angular speed around Y axis (millirad /sec)
* @param zgyro Angular speed around Z axis (millirad /sec)
* @param xmag X Magnetic field (milli tesla)
* @param ymag Y Magnetic field (milli tesla)
* @param zmag Z Magnetic field (milli tesla)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time_boot_ms,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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
#else
mavlink_scaled_imu_t packet;
packet.time_boot_ms = time_boot_ms;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU_LEN);
#endif
}
/**
* @brief Encode a scaled_imu 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 scaled_imu C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
{
return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
}
/**
* @brief Encode a scaled_imu 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 scaled_imu C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_scaled_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu_t* scaled_imu)
{
return mavlink_msg_scaled_imu_pack_chan(system_id, component_id, chan, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
}
/**
* @brief Send a scaled_imu message
* @param chan MAVLink channel to send the message
*
* @param time_boot_ms Timestamp (milliseconds since system boot)
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
* @param xgyro Angular speed around X axis (millirad /sec)
* @param ygyro Angular speed around Y axis (millirad /sec)
* @param zgyro Angular speed around Z axis (millirad /sec)
* @param xmag X Magnetic field (milli tesla)
* @param ymag Y Magnetic field (milli tesla)
* @param zmag Z Magnetic field (milli tesla)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t time_boot_ms, 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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SCALED_IMU_LEN];
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
#endif
#else
mavlink_scaled_imu_t packet;
packet.time_boot_ms = time_boot_ms;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.xmag = xmag;
packet.ymag = ymag;
packet.zmag = zmag;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_SCALED_IMU_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_scaled_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, 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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint32_t(buf, 0, time_boot_ms);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_LEN);
#endif
#else
mavlink_scaled_imu_t *packet = (mavlink_scaled_imu_t *)msgbuf;
packet->time_boot_ms = time_boot_ms;
packet->xacc = xacc;
packet->yacc = yacc;
packet->zacc = zacc;
packet->xgyro = xgyro;
packet->ygyro = ygyro;
packet->zgyro = zgyro;
packet->xmag = xmag;
packet->ymag = ymag;
packet->zmag = zmag;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE SCALED_IMU UNPACKING
/**
* @brief Get field time_boot_ms from scaled_imu message
*
* @return Timestamp (milliseconds since system boot)
*/
static inline uint32_t mavlink_msg_scaled_imu_get_time_boot_ms(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
* @brief Get field xacc from scaled_imu message
*
* @return X acceleration (mg)
*/
static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 4);
}
/**
* @brief Get field yacc from scaled_imu message
*
* @return Y acceleration (mg)
*/
static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 6);
}
/**
* @brief Get field zacc from scaled_imu message
*
* @return Z acceleration (mg)
*/
static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 8);
}
/**
* @brief Get field xgyro from scaled_imu message
*
* @return Angular speed around X axis (millirad /sec)
*/
static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 10);
}
/**
* @brief Get field ygyro from scaled_imu message
*
* @return Angular speed around Y axis (millirad /sec)
*/
static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
}
/**
* @brief Get field zgyro from scaled_imu message
*
* @return Angular speed around Z axis (millirad /sec)
*/
static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 14);
}
/**
* @brief Get field xmag from scaled_imu message
*
* @return X Magnetic field (milli tesla)
*/
static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 16);
}
/**
* @brief Get field ymag from scaled_imu message
*
* @return Y Magnetic field (milli tesla)
*/
static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 18);
}
/**
* @brief Get field zmag from scaled_imu message
*
* @return Z Magnetic field (milli tesla)
*/
static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 20);
}
/**
* @brief Decode a scaled_imu message into a struct
*
* @param msg The message to decode
* @param scaled_imu C-struct to decode the message contents into
*/
static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t* msg, mavlink_scaled_imu_t* scaled_imu)
{
#if MAVLINK_NEED_BYTE_SWAP
scaled_imu->time_boot_ms = mavlink_msg_scaled_imu_get_time_boot_ms(msg);
scaled_imu->xacc = mavlink_msg_scaled_imu_get_xacc(msg);
scaled_imu->yacc = mavlink_msg_scaled_imu_get_yacc(msg);
scaled_imu->zacc = mavlink_msg_scaled_imu_get_zacc(msg);
scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg);
scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg);
scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg);
scaled_imu->xmag = mavlink_msg_scaled_imu_get_xmag(msg);
scaled_imu->ymag = mavlink_msg_scaled_imu_get_ymag(msg);
scaled_imu->zmag = mavlink_msg_scaled_imu_get_zmag(msg);
#else
memcpy(scaled_imu, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SCALED_IMU_LEN);
#endif
}
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