diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h | 309 |
1 files changed, 0 insertions, 309 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h deleted file mode 100644 index 8ddf5bf09..000000000 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_attitude.h +++ /dev/null @@ -1,309 +0,0 @@ -// MESSAGE ATTITUDE PACKING - -#define MAVLINK_MSG_ID_ATTITUDE 30 - -typedef struct __mavlink_attitude_t -{ - uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) - float roll; ///< Roll angle (rad, -pi..+pi) - float pitch; ///< Pitch angle (rad, -pi..+pi) - float yaw; ///< Yaw angle (rad, -pi..+pi) - float rollspeed; ///< Roll angular speed (rad/s) - float pitchspeed; ///< Pitch angular speed (rad/s) - float yawspeed; ///< Yaw angular speed (rad/s) -} mavlink_attitude_t; - -#define MAVLINK_MSG_ID_ATTITUDE_LEN 28 -#define MAVLINK_MSG_ID_30_LEN 28 - -#define MAVLINK_MSG_ID_ATTITUDE_CRC 39 -#define MAVLINK_MSG_ID_30_CRC 39 - - - -#define MAVLINK_MESSAGE_INFO_ATTITUDE { \ - "ATTITUDE", \ - 7, \ - { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \ - { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \ - { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \ - { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \ - { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \ - { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \ - { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \ - } \ -} - - -/** - * @brief Pack a attitude 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 roll Roll angle (rad, -pi..+pi) - * @param pitch Pitch angle (rad, -pi..+pi) - * @param yaw Yaw angle (rad, -pi..+pi) - * @param rollspeed Roll angular speed (rad/s) - * @param pitchspeed Pitch angular speed (rad/s) - * @param yawspeed Yaw angular speed (rad/s) - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, - uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_ATTITUDE_LEN]; - _mav_put_uint32_t(buf, 0, time_boot_ms); - _mav_put_float(buf, 4, roll); - _mav_put_float(buf, 8, pitch); - _mav_put_float(buf, 12, yaw); - _mav_put_float(buf, 16, rollspeed); - _mav_put_float(buf, 20, pitchspeed); - _mav_put_float(buf, 24, yawspeed); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN); -#else - mavlink_attitude_t packet; - packet.time_boot_ms = time_boot_ms; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.rollspeed = rollspeed; - packet.pitchspeed = pitchspeed; - packet.yawspeed = yawspeed; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_ATTITUDE; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC); -#else - return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN); -#endif -} - -/** - * @brief Pack a attitude 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 roll Roll angle (rad, -pi..+pi) - * @param pitch Pitch angle (rad, -pi..+pi) - * @param yaw Yaw angle (rad, -pi..+pi) - * @param rollspeed Roll angular speed (rad/s) - * @param pitchspeed Pitch angular speed (rad/s) - * @param yawspeed Yaw angular speed (rad/s) - * @return length of the message in bytes (excluding serial stream start sign) - */ -static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, - mavlink_message_t* msg, - uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_ATTITUDE_LEN]; - _mav_put_uint32_t(buf, 0, time_boot_ms); - _mav_put_float(buf, 4, roll); - _mav_put_float(buf, 8, pitch); - _mav_put_float(buf, 12, yaw); - _mav_put_float(buf, 16, rollspeed); - _mav_put_float(buf, 20, pitchspeed); - _mav_put_float(buf, 24, yawspeed); - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN); -#else - mavlink_attitude_t packet; - packet.time_boot_ms = time_boot_ms; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.rollspeed = rollspeed; - packet.pitchspeed = pitchspeed; - packet.yawspeed = yawspeed; - - memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN); -#endif - - msg->msgid = MAVLINK_MSG_ID_ATTITUDE; -#if MAVLINK_CRC_EXTRA - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC); -#else - return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN); -#endif -} - -/** - * @brief Encode a attitude 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 attitude C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude) -{ - return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed); -} - -/** - * @brief Encode a attitude 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 attitude C-struct to read the message contents from - */ -static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_t* attitude) -{ - return mavlink_msg_attitude_pack_chan(system_id, component_id, chan, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed); -} - -/** - * @brief Send a attitude message - * @param chan MAVLink channel to send the message - * - * @param time_boot_ms Timestamp (milliseconds since system boot) - * @param roll Roll angle (rad, -pi..+pi) - * @param pitch Pitch angle (rad, -pi..+pi) - * @param yaw Yaw angle (rad, -pi..+pi) - * @param rollspeed Roll angular speed (rad/s) - * @param pitchspeed Pitch angular speed (rad/s) - * @param yawspeed Yaw angular speed (rad/s) - */ -#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS - -static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed) -{ -#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS - char buf[MAVLINK_MSG_ID_ATTITUDE_LEN]; - _mav_put_uint32_t(buf, 0, time_boot_ms); - _mav_put_float(buf, 4, roll); - _mav_put_float(buf, 8, pitch); - _mav_put_float(buf, 12, yaw); - _mav_put_float(buf, 16, rollspeed); - _mav_put_float(buf, 20, pitchspeed); - _mav_put_float(buf, 24, yawspeed); - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN); -#endif -#else - mavlink_attitude_t packet; - packet.time_boot_ms = time_boot_ms; - packet.roll = roll; - packet.pitch = pitch; - packet.yaw = yaw; - packet.rollspeed = rollspeed; - packet.pitchspeed = pitchspeed; - packet.yawspeed = yawspeed; - -#if MAVLINK_CRC_EXTRA - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC); -#else - _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN); -#endif -#endif -} - -#endif - -// MESSAGE ATTITUDE UNPACKING - - -/** - * @brief Get field time_boot_ms from attitude message - * - * @return Timestamp (milliseconds since system boot) - */ -static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg) -{ - return _MAV_RETURN_uint32_t(msg, 0); -} - -/** - * @brief Get field roll from attitude message - * - * @return Roll angle (rad, -pi..+pi) - */ -static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 4); -} - -/** - * @brief Get field pitch from attitude message - * - * @return Pitch angle (rad, -pi..+pi) - */ -static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 8); -} - -/** - * @brief Get field yaw from attitude message - * - * @return Yaw angle (rad, -pi..+pi) - */ -static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 12); -} - -/** - * @brief Get field rollspeed from attitude message - * - * @return Roll angular speed (rad/s) - */ -static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 16); -} - -/** - * @brief Get field pitchspeed from attitude message - * - * @return Pitch angular speed (rad/s) - */ -static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 20); -} - -/** - * @brief Get field yawspeed from attitude message - * - * @return Yaw angular speed (rad/s) - */ -static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg) -{ - return _MAV_RETURN_float(msg, 24); -} - -/** - * @brief Decode a attitude message into a struct - * - * @param msg The message to decode - * @param attitude C-struct to decode the message contents into - */ -static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude) -{ -#if MAVLINK_NEED_BYTE_SWAP - attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg); - attitude->roll = mavlink_msg_attitude_get_roll(msg); - attitude->pitch = mavlink_msg_attitude_get_pitch(msg); - attitude->yaw = mavlink_msg_attitude_get_yaw(msg); - attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg); - attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg); - attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg); -#else - memcpy(attitude, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_LEN); -#endif -} |