diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h | 50 |
1 files changed, 50 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h index 3010d051a..1648a56f8 100644 --- a/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h +++ b/mavlink/include/mavlink/v1.0/common/mavlink_msg_scaled_imu.h @@ -245,6 +245,56 @@ static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t #endif } +#if MAVLINK_MSG_ID_SCALED_IMU_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_scaled_imu_send_buf(mavlink_message_t *msgbuf, 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 = (char *)msgbuf; + _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_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, MAVLINK_MSG_ID_SCALED_IMU_LEN); +#endif +#else + mavlink_scaled_imu_t *packet = (mavlink_scaled_imu_t *)msgbuf; + 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_IMU, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU_LEN, MAVLINK_MSG_ID_SCALED_IMU_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU_LEN); +#endif +#endif +} +#endif + #endif // MESSAGE SCALED_IMU UNPACKING |