diff options
Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_hil_state_quaternion.h')
| -rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_hil_state_quaternion.h | 561 |
1 files changed, 561 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_hil_state_quaternion.h b/ext/mavlink/include/mavlink/common/mavlink_msg_hil_state_quaternion.h new file mode 100644 index 0000000..344a19e --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_hil_state_quaternion.h @@ -0,0 +1,561 @@ +// MESSAGE HIL_STATE_QUATERNION PACKING + +#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION 115 + +typedef struct __mavlink_hil_state_quaternion_t +{ + uint64_t time_usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) + float attitude_quaternion[4]; ///< Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation) + float rollspeed; ///< Body frame roll / phi angular speed (rad/s) + float pitchspeed; ///< Body frame pitch / theta angular speed (rad/s) + float yawspeed; ///< Body frame yaw / psi angular speed (rad/s) + int32_t lat; ///< Latitude, expressed as * 1E7 + int32_t lon; ///< Longitude, expressed as * 1E7 + int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) + int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 + int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 + int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 + uint16_t ind_airspeed; ///< Indicated airspeed, expressed as m/s * 100 + uint16_t true_airspeed; ///< True airspeed, expressed as m/s * 100 + int16_t xacc; ///< X acceleration (mg) + int16_t yacc; ///< Y acceleration (mg) + int16_t zacc; ///< Z acceleration (mg) +} mavlink_hil_state_quaternion_t; + +#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN 64 +#define MAVLINK_MSG_ID_115_LEN 64 + +#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC 4 +#define MAVLINK_MSG_ID_115_CRC 4 + +#define MAVLINK_MSG_HIL_STATE_QUATERNION_FIELD_ATTITUDE_QUATERNION_LEN 4 + +#define MAVLINK_MESSAGE_INFO_HIL_STATE_QUATERNION { \ + "HIL_STATE_QUATERNION", \ + 16, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_quaternion_t, time_usec) }, \ + { "attitude_quaternion", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_hil_state_quaternion_t, attitude_quaternion) }, \ + { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_quaternion_t, rollspeed) }, \ + { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_quaternion_t, pitchspeed) }, \ + { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_state_quaternion_t, yawspeed) }, \ + { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_quaternion_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_quaternion_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_hil_state_quaternion_t, alt) }, \ + { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_quaternion_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_quaternion_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_quaternion_t, vz) }, \ + { "ind_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 54, offsetof(mavlink_hil_state_quaternion_t, ind_airspeed) }, \ + { "true_airspeed", NULL, MAVLINK_TYPE_UINT16_T, 0, 56, offsetof(mavlink_hil_state_quaternion_t, true_airspeed) }, \ + { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 58, offsetof(mavlink_hil_state_quaternion_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 60, offsetof(mavlink_hil_state_quaternion_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 62, offsetof(mavlink_hil_state_quaternion_t, zacc) }, \ + } \ +} + + +/** + * @brief Pack a hil_state_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_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation) + * @param rollspeed Body frame roll / phi angular speed (rad/s) + * @param pitchspeed Body frame pitch / theta angular speed (rad/s) + * @param yawspeed Body frame yaw / psi angular speed (rad/s) + * @param lat Latitude, expressed as * 1E7 + * @param lon Longitude, expressed as * 1E7 + * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param vx Ground X Speed (Latitude), expressed as m/s * 100 + * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 + * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param ind_airspeed Indicated airspeed, expressed as m/s * 100 + * @param true_airspeed True airspeed, expressed as m/s * 100 + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_state_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 24, rollspeed); + _mav_put_float(buf, 28, pitchspeed); + _mav_put_float(buf, 32, yawspeed); + _mav_put_int32_t(buf, 36, lat); + _mav_put_int32_t(buf, 40, lon); + _mav_put_int32_t(buf, 44, alt); + _mav_put_int16_t(buf, 48, vx); + _mav_put_int16_t(buf, 50, vy); + _mav_put_int16_t(buf, 52, vz); + _mav_put_uint16_t(buf, 54, ind_airspeed); + _mav_put_uint16_t(buf, 56, true_airspeed); + _mav_put_int16_t(buf, 58, xacc); + _mav_put_int16_t(buf, 60, yacc); + _mav_put_int16_t(buf, 62, zacc); + _mav_put_float_array(buf, 8, attitude_quaternion, 4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#else + mavlink_hil_state_quaternion_t packet; + packet.time_usec = time_usec; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.ind_airspeed = ind_airspeed; + packet.true_airspeed = true_airspeed; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif +} + +/** + * @brief Pack a hil_state_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_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation) + * @param rollspeed Body frame roll / phi angular speed (rad/s) + * @param pitchspeed Body frame pitch / theta angular speed (rad/s) + * @param yawspeed Body frame yaw / psi angular speed (rad/s) + * @param lat Latitude, expressed as * 1E7 + * @param lon Longitude, expressed as * 1E7 + * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param vx Ground X Speed (Latitude), expressed as m/s * 100 + * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 + * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param ind_airspeed Indicated airspeed, expressed as m/s * 100 + * @param true_airspeed True airspeed, expressed as m/s * 100 + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_state_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,const float *attitude_quaternion,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,uint16_t ind_airspeed,uint16_t true_airspeed,int16_t xacc,int16_t yacc,int16_t zacc) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 24, rollspeed); + _mav_put_float(buf, 28, pitchspeed); + _mav_put_float(buf, 32, yawspeed); + _mav_put_int32_t(buf, 36, lat); + _mav_put_int32_t(buf, 40, lon); + _mav_put_int32_t(buf, 44, alt); + _mav_put_int16_t(buf, 48, vx); + _mav_put_int16_t(buf, 50, vy); + _mav_put_int16_t(buf, 52, vz); + _mav_put_uint16_t(buf, 54, ind_airspeed); + _mav_put_uint16_t(buf, 56, true_airspeed); + _mav_put_int16_t(buf, 58, xacc); + _mav_put_int16_t(buf, 60, yacc); + _mav_put_int16_t(buf, 62, zacc); + _mav_put_float_array(buf, 8, attitude_quaternion, 4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#else + mavlink_hil_state_quaternion_t packet; + packet.time_usec = time_usec; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.ind_airspeed = ind_airspeed; + packet.true_airspeed = true_airspeed; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_STATE_QUATERNION; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif +} + +/** + * @brief Encode a hil_state_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 hil_state_quaternion C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_hil_state_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion) +{ + return mavlink_msg_hil_state_quaternion_pack(system_id, component_id, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc); +} + +/** + * @brief Encode a hil_state_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 hil_state_quaternion C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_hil_state_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_quaternion_t* hil_state_quaternion) +{ + return mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, chan, msg, hil_state_quaternion->time_usec, hil_state_quaternion->attitude_quaternion, hil_state_quaternion->rollspeed, hil_state_quaternion->pitchspeed, hil_state_quaternion->yawspeed, hil_state_quaternion->lat, hil_state_quaternion->lon, hil_state_quaternion->alt, hil_state_quaternion->vx, hil_state_quaternion->vy, hil_state_quaternion->vz, hil_state_quaternion->ind_airspeed, hil_state_quaternion->true_airspeed, hil_state_quaternion->xacc, hil_state_quaternion->yacc, hil_state_quaternion->zacc); +} + +/** + * @brief Send a hil_state_quaternion message + * @param chan MAVLink channel to send the message + * + * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) + * @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation) + * @param rollspeed Body frame roll / phi angular speed (rad/s) + * @param pitchspeed Body frame pitch / theta angular speed (rad/s) + * @param yawspeed Body frame yaw / psi angular speed (rad/s) + * @param lat Latitude, expressed as * 1E7 + * @param lon Longitude, expressed as * 1E7 + * @param alt Altitude in meters, expressed as * 1000 (millimeters) + * @param vx Ground X Speed (Latitude), expressed as m/s * 100 + * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 + * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 + * @param ind_airspeed Indicated airspeed, expressed as m/s * 100 + * @param true_airspeed True airspeed, expressed as m/s * 100 + * @param xacc X acceleration (mg) + * @param yacc Y acceleration (mg) + * @param zacc Z acceleration (mg) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_hil_state_quaternion_send(mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 24, rollspeed); + _mav_put_float(buf, 28, pitchspeed); + _mav_put_float(buf, 32, yawspeed); + _mav_put_int32_t(buf, 36, lat); + _mav_put_int32_t(buf, 40, lon); + _mav_put_int32_t(buf, 44, alt); + _mav_put_int16_t(buf, 48, vx); + _mav_put_int16_t(buf, 50, vy); + _mav_put_int16_t(buf, 52, vz); + _mav_put_uint16_t(buf, 54, ind_airspeed); + _mav_put_uint16_t(buf, 56, true_airspeed); + _mav_put_int16_t(buf, 58, xacc); + _mav_put_int16_t(buf, 60, yacc); + _mav_put_int16_t(buf, 62, zacc); + _mav_put_float_array(buf, 8, attitude_quaternion, 4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif +#else + mavlink_hil_state_quaternion_t packet; + packet.time_usec = time_usec; + packet.rollspeed = rollspeed; + packet.pitchspeed = pitchspeed; + packet.yawspeed = yawspeed; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.ind_airspeed = ind_airspeed; + packet.true_airspeed = true_airspeed; + packet.xacc = xacc; + packet.yacc = yacc; + packet.zacc = zacc; + mav_array_memcpy(packet.attitude_quaternion, attitude_quaternion, sizeof(float)*4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_HIL_STATE_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_hil_state_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *attitude_quaternion, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, uint16_t ind_airspeed, uint16_t true_airspeed, int16_t xacc, int16_t yacc, int16_t zacc) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 24, rollspeed); + _mav_put_float(buf, 28, pitchspeed); + _mav_put_float(buf, 32, yawspeed); + _mav_put_int32_t(buf, 36, lat); + _mav_put_int32_t(buf, 40, lon); + _mav_put_int32_t(buf, 44, alt); + _mav_put_int16_t(buf, 48, vx); + _mav_put_int16_t(buf, 50, vy); + _mav_put_int16_t(buf, 52, vz); + _mav_put_uint16_t(buf, 54, ind_airspeed); + _mav_put_uint16_t(buf, 56, true_airspeed); + _mav_put_int16_t(buf, 58, xacc); + _mav_put_int16_t(buf, 60, yacc); + _mav_put_int16_t(buf, 62, zacc); + _mav_put_float_array(buf, 8, attitude_quaternion, 4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, buf, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif +#else + mavlink_hil_state_quaternion_t *packet = (mavlink_hil_state_quaternion_t *)msgbuf; + packet->time_usec = time_usec; + packet->rollspeed = rollspeed; + packet->pitchspeed = pitchspeed; + packet->yawspeed = yawspeed; + packet->lat = lat; + packet->lon = lon; + packet->alt = alt; + packet->vx = vx; + packet->vy = vy; + packet->vz = vz; + packet->ind_airspeed = ind_airspeed; + packet->true_airspeed = true_airspeed; + packet->xacc = xacc; + packet->yacc = yacc; + packet->zacc = zacc; + mav_array_memcpy(packet->attitude_quaternion, attitude_quaternion, sizeof(float)*4); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE HIL_STATE_QUATERNION UNPACKING + + +/** + * @brief Get field time_usec from hil_state_quaternion message + * + * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) + */ +static inline uint64_t mavlink_msg_hil_state_quaternion_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field attitude_quaternion from hil_state_quaternion message + * + * @return Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation) + */ +static inline uint16_t mavlink_msg_hil_state_quaternion_get_attitude_quaternion(const mavlink_message_t* msg, float *attitude_quaternion) +{ + return _MAV_RETURN_float_array(msg, attitude_quaternion, 4, 8); +} + +/** + * @brief Get field rollspeed from hil_state_quaternion message + * + * @return Body frame roll / phi angular speed (rad/s) + */ +static inline float mavlink_msg_hil_state_quaternion_get_rollspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field pitchspeed from hil_state_quaternion message + * + * @return Body frame pitch / theta angular speed (rad/s) + */ +static inline float mavlink_msg_hil_state_quaternion_get_pitchspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field yawspeed from hil_state_quaternion message + * + * @return Body frame yaw / psi angular speed (rad/s) + */ +static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field lat from hil_state_quaternion message + * + * @return Latitude, expressed as * 1E7 + */ +static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 36); +} + +/** + * @brief Get field lon from hil_state_quaternion message + * + * @return Longitude, expressed as * 1E7 + */ +static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 40); +} + +/** + * @brief Get field alt from hil_state_quaternion message + * + * @return Altitude in meters, expressed as * 1000 (millimeters) + */ +static inline int32_t mavlink_msg_hil_state_quaternion_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int32_t(msg, 44); +} + +/** + * @brief Get field vx from hil_state_quaternion message + * + * @return Ground X Speed (Latitude), expressed as m/s * 100 + */ +static inline int16_t mavlink_msg_hil_state_quaternion_get_vx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 48); +} + +/** + * @brief Get field vy from hil_state_quaternion message + * + * @return Ground Y Speed (Longitude), expressed as m/s * 100 + */ +static inline int16_t mavlink_msg_hil_state_quaternion_get_vy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 50); +} + +/** + * @brief Get field vz from hil_state_quaternion message + * + * @return Ground Z Speed (Altitude), expressed as m/s * 100 + */ +static inline int16_t mavlink_msg_hil_state_quaternion_get_vz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 52); +} + +/** + * @brief Get field ind_airspeed from hil_state_quaternion message + * + * @return Indicated airspeed, expressed as m/s * 100 + */ +static inline uint16_t mavlink_msg_hil_state_quaternion_get_ind_airspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 54); +} + +/** + * @brief Get field true_airspeed from hil_state_quaternion message + * + * @return True airspeed, expressed as m/s * 100 + */ +static inline uint16_t mavlink_msg_hil_state_quaternion_get_true_airspeed(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint16_t(msg, 56); +} + +/** + * @brief Get field xacc from hil_state_quaternion message + * + * @return X acceleration (mg) + */ +static inline int16_t mavlink_msg_hil_state_quaternion_get_xacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 58); +} + +/** + * @brief Get field yacc from hil_state_quaternion message + * + * @return Y acceleration (mg) + */ +static inline int16_t mavlink_msg_hil_state_quaternion_get_yacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 60); +} + +/** + * @brief Get field zacc from hil_state_quaternion message + * + * @return Z acceleration (mg) + */ +static inline int16_t mavlink_msg_hil_state_quaternion_get_zacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_int16_t(msg, 62); +} + +/** + * @brief Decode a hil_state_quaternion message into a struct + * + * @param msg The message to decode + * @param hil_state_quaternion C-struct to decode the message contents into + */ +static inline void mavlink_msg_hil_state_quaternion_decode(const mavlink_message_t* msg, mavlink_hil_state_quaternion_t* hil_state_quaternion) +{ +#if MAVLINK_NEED_BYTE_SWAP + hil_state_quaternion->time_usec = mavlink_msg_hil_state_quaternion_get_time_usec(msg); + mavlink_msg_hil_state_quaternion_get_attitude_quaternion(msg, hil_state_quaternion->attitude_quaternion); + hil_state_quaternion->rollspeed = mavlink_msg_hil_state_quaternion_get_rollspeed(msg); + hil_state_quaternion->pitchspeed = mavlink_msg_hil_state_quaternion_get_pitchspeed(msg); + hil_state_quaternion->yawspeed = mavlink_msg_hil_state_quaternion_get_yawspeed(msg); + hil_state_quaternion->lat = mavlink_msg_hil_state_quaternion_get_lat(msg); + hil_state_quaternion->lon = mavlink_msg_hil_state_quaternion_get_lon(msg); + hil_state_quaternion->alt = mavlink_msg_hil_state_quaternion_get_alt(msg); + hil_state_quaternion->vx = mavlink_msg_hil_state_quaternion_get_vx(msg); + hil_state_quaternion->vy = mavlink_msg_hil_state_quaternion_get_vy(msg); + hil_state_quaternion->vz = mavlink_msg_hil_state_quaternion_get_vz(msg); + hil_state_quaternion->ind_airspeed = mavlink_msg_hil_state_quaternion_get_ind_airspeed(msg); + hil_state_quaternion->true_airspeed = mavlink_msg_hil_state_quaternion_get_true_airspeed(msg); + hil_state_quaternion->xacc = mavlink_msg_hil_state_quaternion_get_xacc(msg); + hil_state_quaternion->yacc = mavlink_msg_hil_state_quaternion_get_yacc(msg); + hil_state_quaternion->zacc = mavlink_msg_hil_state_quaternion_get_zacc(msg); +#else + memcpy(hil_state_quaternion, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN); +#endif +} |