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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-14 10:38:34 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-14 10:38:34 +0200 |
commit | 51a4ef5de1bc542ac4f7072d95250cd62ea73ed6 (patch) | |
tree | b71db4faea6a0ac39e4fa28481421a2acc13a896 /mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h | |
parent | 5e0911046173e01a6c66b91d3e38212e093159d0 (diff) | |
parent | ddc8f1fa5f5b88549af5e4f5f46c751a5f3af3ce (diff) | |
download | px4-firmware-sbus2_sensors.tar.gz px4-firmware-sbus2_sensors.tar.bz2 px4-firmware-sbus2_sensors.zip |
merged upstream/master into sbus2_sensorssbus2_sensors
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h')
-rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h | 375 |
1 files changed, 0 insertions, 375 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h deleted file mode 100644 index ea4dbbf81..000000000 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu2.h +++ /dev/null @@ -1,375 +0,0 @@ -// MESSAGE SCALED_IMU2 PACKING - -#define MAVLINK_MSG_ID_SCALED_IMU2 116 - -typedef struct __mavlink_scaled_imu2_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_imu2_t; - -#define MAVLINK_MSG_ID_SCALED_IMU2_LEN 22 -#define MAVLINK_MSG_ID_116_LEN 22 - -#define MAVLINK_MSG_ID_SCALED_IMU2_CRC 76 -#define MAVLINK_MSG_ID_116_CRC 76 - - - -#define MAVLINK_MESSAGE_INFO_SCALED_IMU2 { \ - "SCALED_IMU2", \ - 10, \ - { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu2_t, time_boot_ms) }, \ - { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu2_t, xacc) }, \ - { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu2_t, yacc) }, \ - { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu2_t, zacc) }, \ - { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu2_t, xgyro) }, \ - { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu2_t, ygyro) }, \ - { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu2_t, zgyro) }, \ - { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu2_t, xmag) }, \ - { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu2_t, ymag) }, \ - { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu2_t, zmag) }, \ - } \ -} - - -/** - * @brief Pack a scaled_imu2 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_imu2_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_IMU2_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_IMU2_LEN); -#else - mavlink_scaled_imu2_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_IMU2_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_LEN); -#endif -} - -/** - * @brief Pack a scaled_imu2 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_imu2_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_IMU2_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_IMU2_LEN); -#else - mavlink_scaled_imu2_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_IMU2_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_LEN); -#endif -} - -/** - * @brief Encode a scaled_imu2 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_imu2 C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_scaled_imu2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2) -{ - return mavlink_msg_scaled_imu2_pack(system_id, component_id, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag); -} - -/** - * @brief Encode a scaled_imu2 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_imu2 C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_scaled_imu2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2) -{ - return mavlink_msg_scaled_imu2_pack_chan(system_id, component_id, chan, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag); -} - -/** - * @brief Send a scaled_imu2 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_imu2_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_IMU2_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_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN); -#endif -#else - mavlink_scaled_imu2_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_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN); -#endif -#endif -} - -#endif - -// MESSAGE SCALED_IMU2 UNPACKING - - -/** - * @brief Get field time_boot_ms from scaled_imu2 message - * - * @return Timestamp (milliseconds since system boot) - */ -static inline uint32_t mavlink_msg_scaled_imu2_get_time_boot_ms(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint32_t(msg, 0); -} - -/** - * @brief Get field xacc from scaled_imu2 message - * - * @return X acceleration (mg) - */ -static inline int16_t mavlink_msg_scaled_imu2_get_xacc(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 4); -} - -/** - * @brief Get field yacc from scaled_imu2 message - * - * @return Y acceleration (mg) - */ -static inline int16_t mavlink_msg_scaled_imu2_get_yacc(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 6); -} - -/** - * @brief Get field zacc from scaled_imu2 message - * - * @return Z acceleration (mg) - */ -static inline int16_t mavlink_msg_scaled_imu2_get_zacc(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 8); -} - -/** - * @brief Get field xgyro from scaled_imu2 message - * - * @return Angular speed around X axis (millirad /sec) - */ -static inline int16_t mavlink_msg_scaled_imu2_get_xgyro(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 10); -} - -/** - * @brief Get field ygyro from scaled_imu2 message - * - * @return Angular speed around Y axis (millirad /sec) - */ -static inline int16_t mavlink_msg_scaled_imu2_get_ygyro(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 12); -} - -/** - * @brief Get field zgyro from scaled_imu2 message - * - * @return Angular speed around Z axis (millirad /sec) - */ -static inline int16_t mavlink_msg_scaled_imu2_get_zgyro(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 14); -} - -/** - * @brief Get field xmag from scaled_imu2 message - * - * @return X Magnetic field (milli tesla) - */ -static inline int16_t mavlink_msg_scaled_imu2_get_xmag(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 16); -} - -/** - * @brief Get field ymag from scaled_imu2 message - * - * @return Y Magnetic field (milli tesla) - */ -static inline int16_t mavlink_msg_scaled_imu2_get_ymag(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 18); -} - -/** - * @brief Get field zmag from scaled_imu2 message - * - * @return Z Magnetic field (milli tesla) - */ -static inline int16_t mavlink_msg_scaled_imu2_get_zmag(const mavlink_message_t* msg) -{ - return _MAV_RETURN_int16_t(msg, 20); -} - -/** - * @brief Decode a scaled_imu2 message into a struct - * - * @param msg The message to decode - * @param scaled_imu2 C-struct to decode the message contents into - */ -static inline void mavlink_msg_scaled_imu2_decode(const mavlink_message_t* msg, mavlink_scaled_imu2_t* scaled_imu2) -{ -#if MAVLINK_NEED_BYTE_SWAP - scaled_imu2->time_boot_ms = mavlink_msg_scaled_imu2_get_time_boot_ms(msg); - scaled_imu2->xacc = mavlink_msg_scaled_imu2_get_xacc(msg); - scaled_imu2->yacc = mavlink_msg_scaled_imu2_get_yacc(msg); - scaled_imu2->zacc = mavlink_msg_scaled_imu2_get_zacc(msg); - scaled_imu2->xgyro = mavlink_msg_scaled_imu2_get_xgyro(msg); - scaled_imu2->ygyro = mavlink_msg_scaled_imu2_get_ygyro(msg); - scaled_imu2->zgyro = mavlink_msg_scaled_imu2_get_zgyro(msg); - scaled_imu2->xmag = mavlink_msg_scaled_imu2_get_xmag(msg); - scaled_imu2->ymag = mavlink_msg_scaled_imu2_get_ymag(msg); - scaled_imu2->zmag = mavlink_msg_scaled_imu2_get_zmag(msg); -#else - memcpy(scaled_imu2, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SCALED_IMU2_LEN); -#endif -} |