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Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h | 471 |
1 files changed, 471 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h new file mode 100644 index 000000000..422e55adc --- /dev/null +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_hil_sensor.h @@ -0,0 +1,471 @@ +// MESSAGE HIL_SENSOR PACKING + +#define MAVLINK_MSG_ID_HIL_SENSOR 107 + +typedef struct __mavlink_hil_sensor_t +{ + uint64_t time_usec; ///< Timestamp (microseconds, synced to UNIX time or since system boot) + float xacc; ///< X acceleration (m/s^2) + float yacc; ///< Y acceleration (m/s^2) + float zacc; ///< Z acceleration (m/s^2) + float xgyro; ///< Angular speed around X axis in body frame (rad / sec) + float ygyro; ///< Angular speed around Y axis in body frame (rad / sec) + float zgyro; ///< Angular speed around Z axis in body frame (rad / sec) + float xmag; ///< X Magnetic field (Gauss) + float ymag; ///< Y Magnetic field (Gauss) + float zmag; ///< Z Magnetic field (Gauss) + float abs_pressure; ///< Absolute pressure in millibar + float diff_pressure; ///< Differential pressure (airspeed) in millibar + float pressure_alt; ///< Altitude calculated from pressure + float temperature; ///< Temperature in degrees celsius + uint32_t fields_updated; ///< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature +} mavlink_hil_sensor_t; + +#define MAVLINK_MSG_ID_HIL_SENSOR_LEN 64 +#define MAVLINK_MSG_ID_107_LEN 64 + +#define MAVLINK_MSG_ID_HIL_SENSOR_CRC 108 +#define MAVLINK_MSG_ID_107_CRC 108 + + + +#define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \ + "HIL_SENSOR", \ + 15, \ + { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \ + { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \ + { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \ + { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \ + { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \ + { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \ + { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \ + { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \ + { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \ + { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \ + { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \ + { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \ + { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \ + { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \ + { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \ + } \ +} + + +/** + * @brief Pack a hil_sensor 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, synced to UNIX time or since system boot) + * @param xacc X acceleration (m/s^2) + * @param yacc Y acceleration (m/s^2) + * @param zacc Z acceleration (m/s^2) + * @param xgyro Angular speed around X axis in body frame (rad / sec) + * @param ygyro Angular speed around Y axis in body frame (rad / sec) + * @param zgyro Angular speed around Z axis in body frame (rad / sec) + * @param xmag X Magnetic field (Gauss) + * @param ymag Y Magnetic field (Gauss) + * @param zmag Z Magnetic field (Gauss) + * @param abs_pressure Absolute pressure in millibar + * @param diff_pressure Differential pressure (airspeed) in millibar + * @param pressure_alt Altitude calculated from pressure + * @param temperature Temperature in degrees celsius + * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, xacc); + _mav_put_float(buf, 12, yacc); + _mav_put_float(buf, 16, zacc); + _mav_put_float(buf, 20, xgyro); + _mav_put_float(buf, 24, ygyro); + _mav_put_float(buf, 28, zgyro); + _mav_put_float(buf, 32, xmag); + _mav_put_float(buf, 36, ymag); + _mav_put_float(buf, 40, zmag); + _mav_put_float(buf, 44, abs_pressure); + _mav_put_float(buf, 48, diff_pressure); + _mav_put_float(buf, 52, pressure_alt); + _mav_put_float(buf, 56, temperature); + _mav_put_uint32_t(buf, 60, fields_updated); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#else + mavlink_hil_sensor_t packet; + packet.time_usec = time_usec; + 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; + packet.abs_pressure = abs_pressure; + packet.diff_pressure = diff_pressure; + packet.pressure_alt = pressure_alt; + packet.temperature = temperature; + packet.fields_updated = fields_updated; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#endif +} + +/** + * @brief Pack a hil_sensor 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 time_usec Timestamp (microseconds, synced to UNIX time or since system boot) + * @param xacc X acceleration (m/s^2) + * @param yacc Y acceleration (m/s^2) + * @param zacc Z acceleration (m/s^2) + * @param xgyro Angular speed around X axis in body frame (rad / sec) + * @param ygyro Angular speed around Y axis in body frame (rad / sec) + * @param zgyro Angular speed around Z axis in body frame (rad / sec) + * @param xmag X Magnetic field (Gauss) + * @param ymag Y Magnetic field (Gauss) + * @param zmag Z Magnetic field (Gauss) + * @param abs_pressure Absolute pressure in millibar + * @param diff_pressure Differential pressure (airspeed) in millibar + * @param pressure_alt Altitude calculated from pressure + * @param temperature Temperature in degrees celsius + * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_hil_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint32_t fields_updated) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, xacc); + _mav_put_float(buf, 12, yacc); + _mav_put_float(buf, 16, zacc); + _mav_put_float(buf, 20, xgyro); + _mav_put_float(buf, 24, ygyro); + _mav_put_float(buf, 28, zgyro); + _mav_put_float(buf, 32, xmag); + _mav_put_float(buf, 36, ymag); + _mav_put_float(buf, 40, zmag); + _mav_put_float(buf, 44, abs_pressure); + _mav_put_float(buf, 48, diff_pressure); + _mav_put_float(buf, 52, pressure_alt); + _mav_put_float(buf, 56, temperature); + _mav_put_uint32_t(buf, 60, fields_updated); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#else + mavlink_hil_sensor_t packet; + packet.time_usec = time_usec; + 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; + packet.abs_pressure = abs_pressure; + packet.diff_pressure = diff_pressure; + packet.pressure_alt = pressure_alt; + packet.temperature = temperature; + packet.fields_updated = fields_updated; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#endif +} + +/** + * @brief Encode a hil_sensor 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 hil_sensor C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor) +{ + return mavlink_msg_hil_sensor_pack(system_id, component_id, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated); +} + +/** + * @brief Send a hil_sensor message + * @param chan MAVLink channel to send the message + * + * @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot) + * @param xacc X acceleration (m/s^2) + * @param yacc Y acceleration (m/s^2) + * @param zacc Z acceleration (m/s^2) + * @param xgyro Angular speed around X axis in body frame (rad / sec) + * @param ygyro Angular speed around Y axis in body frame (rad / sec) + * @param zgyro Angular speed around Z axis in body frame (rad / sec) + * @param xmag X Magnetic field (Gauss) + * @param ymag Y Magnetic field (Gauss) + * @param zmag Z Magnetic field (Gauss) + * @param abs_pressure Absolute pressure in millibar + * @param diff_pressure Differential pressure (airspeed) in millibar + * @param pressure_alt Altitude calculated from pressure + * @param temperature Temperature in degrees celsius + * @param fields_updated Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_hil_sensor_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN]; + _mav_put_uint64_t(buf, 0, time_usec); + _mav_put_float(buf, 8, xacc); + _mav_put_float(buf, 12, yacc); + _mav_put_float(buf, 16, zacc); + _mav_put_float(buf, 20, xgyro); + _mav_put_float(buf, 24, ygyro); + _mav_put_float(buf, 28, zgyro); + _mav_put_float(buf, 32, xmag); + _mav_put_float(buf, 36, ymag); + _mav_put_float(buf, 40, zmag); + _mav_put_float(buf, 44, abs_pressure); + _mav_put_float(buf, 48, diff_pressure); + _mav_put_float(buf, 52, pressure_alt); + _mav_put_float(buf, 56, temperature); + _mav_put_uint32_t(buf, 60, fields_updated); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#endif +#else + mavlink_hil_sensor_t packet; + packet.time_usec = time_usec; + 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; + packet.abs_pressure = abs_pressure; + packet.diff_pressure = diff_pressure; + packet.pressure_alt = pressure_alt; + packet.temperature = temperature; + packet.fields_updated = fields_updated; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#endif +#endif +} + +#endif + +// MESSAGE HIL_SENSOR UNPACKING + + +/** + * @brief Get field time_usec from hil_sensor message + * + * @return Timestamp (microseconds, synced to UNIX time or since system boot) + */ +static inline uint64_t mavlink_msg_hil_sensor_get_time_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field xacc from hil_sensor message + * + * @return X acceleration (m/s^2) + */ +static inline float mavlink_msg_hil_sensor_get_xacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field yacc from hil_sensor message + * + * @return Y acceleration (m/s^2) + */ +static inline float mavlink_msg_hil_sensor_get_yacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field zacc from hil_sensor message + * + * @return Z acceleration (m/s^2) + */ +static inline float mavlink_msg_hil_sensor_get_zacc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field xgyro from hil_sensor message + * + * @return Angular speed around X axis in body frame (rad / sec) + */ +static inline float mavlink_msg_hil_sensor_get_xgyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field ygyro from hil_sensor message + * + * @return Angular speed around Y axis in body frame (rad / sec) + */ +static inline float mavlink_msg_hil_sensor_get_ygyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field zgyro from hil_sensor message + * + * @return Angular speed around Z axis in body frame (rad / sec) + */ +static inline float mavlink_msg_hil_sensor_get_zgyro(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field xmag from hil_sensor message + * + * @return X Magnetic field (Gauss) + */ +static inline float mavlink_msg_hil_sensor_get_xmag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field ymag from hil_sensor message + * + * @return Y Magnetic field (Gauss) + */ +static inline float mavlink_msg_hil_sensor_get_ymag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 36); +} + +/** + * @brief Get field zmag from hil_sensor message + * + * @return Z Magnetic field (Gauss) + */ +static inline float mavlink_msg_hil_sensor_get_zmag(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 40); +} + +/** + * @brief Get field abs_pressure from hil_sensor message + * + * @return Absolute pressure in millibar + */ +static inline float mavlink_msg_hil_sensor_get_abs_pressure(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 44); +} + +/** + * @brief Get field diff_pressure from hil_sensor message + * + * @return Differential pressure (airspeed) in millibar + */ +static inline float mavlink_msg_hil_sensor_get_diff_pressure(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 48); +} + +/** + * @brief Get field pressure_alt from hil_sensor message + * + * @return Altitude calculated from pressure + */ +static inline float mavlink_msg_hil_sensor_get_pressure_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 52); +} + +/** + * @brief Get field temperature from hil_sensor message + * + * @return Temperature in degrees celsius + */ +static inline float mavlink_msg_hil_sensor_get_temperature(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 56); +} + +/** + * @brief Get field fields_updated from hil_sensor message + * + * @return Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature + */ +static inline uint32_t mavlink_msg_hil_sensor_get_fields_updated(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 60); +} + +/** + * @brief Decode a hil_sensor message into a struct + * + * @param msg The message to decode + * @param hil_sensor C-struct to decode the message contents into + */ +static inline void mavlink_msg_hil_sensor_decode(const mavlink_message_t* msg, mavlink_hil_sensor_t* hil_sensor) +{ +#if MAVLINK_NEED_BYTE_SWAP + hil_sensor->time_usec = mavlink_msg_hil_sensor_get_time_usec(msg); + hil_sensor->xacc = mavlink_msg_hil_sensor_get_xacc(msg); + hil_sensor->yacc = mavlink_msg_hil_sensor_get_yacc(msg); + hil_sensor->zacc = mavlink_msg_hil_sensor_get_zacc(msg); + hil_sensor->xgyro = mavlink_msg_hil_sensor_get_xgyro(msg); + hil_sensor->ygyro = mavlink_msg_hil_sensor_get_ygyro(msg); + hil_sensor->zgyro = mavlink_msg_hil_sensor_get_zgyro(msg); + hil_sensor->xmag = mavlink_msg_hil_sensor_get_xmag(msg); + hil_sensor->ymag = mavlink_msg_hil_sensor_get_ymag(msg); + hil_sensor->zmag = mavlink_msg_hil_sensor_get_zmag(msg); + hil_sensor->abs_pressure = mavlink_msg_hil_sensor_get_abs_pressure(msg); + hil_sensor->diff_pressure = mavlink_msg_hil_sensor_get_diff_pressure(msg); + hil_sensor->pressure_alt = mavlink_msg_hil_sensor_get_pressure_alt(msg); + hil_sensor->temperature = mavlink_msg_hil_sensor_get_temperature(msg); + hil_sensor->fields_updated = mavlink_msg_hil_sensor_get_fields_updated(msg); +#else + memcpy(hil_sensor, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_SENSOR_LEN); +#endif +} |