1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
|
// MESSAGE AHRS PACKING
#define MAVLINK_MSG_ID_AHRS 163
typedef struct __mavlink_ahrs_t
{
float omegaIx; ///< X gyro drift estimate rad/s
float omegaIy; ///< Y gyro drift estimate rad/s
float omegaIz; ///< Z gyro drift estimate rad/s
float accel_weight; ///< average accel_weight
float renorm_val; ///< average renormalisation value
float error_rp; ///< average error_roll_pitch value
float error_yaw; ///< average error_yaw value
} mavlink_ahrs_t;
#define MAVLINK_MSG_ID_AHRS_LEN 28
#define MAVLINK_MSG_ID_163_LEN 28
#define MAVLINK_MESSAGE_INFO_AHRS { \
"AHRS", \
7, \
{ { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
{ "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
{ "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
{ "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
{ "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
{ "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
{ "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
} \
}
/**
* @brief Pack a ahrs 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 omegaIx X gyro drift estimate rad/s
* @param omegaIy Y gyro drift estimate rad/s
* @param omegaIz Z gyro drift estimate rad/s
* @param accel_weight average accel_weight
* @param renorm_val average renormalisation value
* @param error_rp average error_roll_pitch value
* @param error_yaw average error_yaw value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[28];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
#endif
msg->msgid = MAVLINK_MSG_ID_AHRS;
return mavlink_finalize_message(msg, system_id, component_id, 28, 127);
}
/**
* @brief Pack a ahrs 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 was sent over
* @param msg The MAVLink message to compress the data into
* @param omegaIx X gyro drift estimate rad/s
* @param omegaIy Y gyro drift estimate rad/s
* @param omegaIz Z gyro drift estimate rad/s
* @param accel_weight average accel_weight
* @param renorm_val average renormalisation value
* @param error_rp average error_roll_pitch value
* @param error_yaw average error_yaw value
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[28];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
#endif
msg->msgid = MAVLINK_MSG_ID_AHRS;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 127);
}
/**
* @brief Encode a ahrs struct into a 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 ahrs C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
{
return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
}
/**
* @brief Send a ahrs message
* @param chan MAVLink channel to send the message
*
* @param omegaIx X gyro drift estimate rad/s
* @param omegaIy Y gyro drift estimate rad/s
* @param omegaIz Z gyro drift estimate rad/s
* @param accel_weight average accel_weight
* @param renorm_val average renormalisation value
* @param error_rp average error_roll_pitch value
* @param error_yaw average error_yaw value
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[28];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, 28, 127);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, 28, 127);
#endif
}
#endif
// MESSAGE AHRS UNPACKING
/**
* @brief Get field omegaIx from ahrs message
*
* @return X gyro drift estimate rad/s
*/
static inline float mavlink_msg_ahrs_get_omegaIx(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field omegaIy from ahrs message
*
* @return Y gyro drift estimate rad/s
*/
static inline float mavlink_msg_ahrs_get_omegaIy(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field omegaIz from ahrs message
*
* @return Z gyro drift estimate rad/s
*/
static inline float mavlink_msg_ahrs_get_omegaIz(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field accel_weight from ahrs message
*
* @return average accel_weight
*/
static inline float mavlink_msg_ahrs_get_accel_weight(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field renorm_val from ahrs message
*
* @return average renormalisation value
*/
static inline float mavlink_msg_ahrs_get_renorm_val(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field error_rp from ahrs message
*
* @return average error_roll_pitch value
*/
static inline float mavlink_msg_ahrs_get_error_rp(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field error_yaw from ahrs message
*
* @return average error_yaw value
*/
static inline float mavlink_msg_ahrs_get_error_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Decode a ahrs message into a struct
*
* @param msg The message to decode
* @param ahrs C-struct to decode the message contents into
*/
static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs)
{
#if MAVLINK_NEED_BYTE_SWAP
ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg);
ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg);
ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg);
ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg);
ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg);
ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
#else
memcpy(ahrs, _MAV_PAYLOAD(msg), 28);
#endif
}
|
