1 files changed, 16 insertions, 2 deletions
diff --git a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h
index d9d2ccb04..c3ead1140 100644
--- a/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h
+++ b/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs.h
@@ -89,7 +89,7 @@ static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t componen
  * @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 chan The MAVLink channel this message will be 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
@@ -137,7 +137,7 @@ static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t com
 }
 
 /**
- * @brief Encode a ahrs struct into a message
+ * @brief Encode a ahrs struct
  *
  * @param system_id ID of this system
  * @param component_id ID of this component (e.g. 200 for IMU)
@@ -150,6 +150,20 @@ static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t compon
 }
 
 /**
+ * @brief Encode a ahrs 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 ahrs C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ahrs_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
+{
+	return mavlink_msg_ahrs_pack_chan(system_id, component_id, chan, 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
  *