diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h | 167 |
1 files changed, 167 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h new file mode 100644 index 000000000..565ab0cd8 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_bias.h @@ -0,0 +1,167 @@ +// MESSAGE OBS_BIAS PACKING + +#define MAVLINK_MSG_ID_OBS_BIAS 180 + +typedef struct __mavlink_obs_bias_t +{ + float accBias[3]; ///< accelerometer bias + float gyroBias[3]; ///< gyroscope bias +} mavlink_obs_bias_t; + +#define MAVLINK_MSG_ID_OBS_BIAS_LEN 24 +#define MAVLINK_MSG_ID_180_LEN 24 + +#define MAVLINK_MSG_OBS_BIAS_FIELD_ACCBIAS_LEN 3 +#define MAVLINK_MSG_OBS_BIAS_FIELD_GYROBIAS_LEN 3 + +#define MAVLINK_MESSAGE_INFO_OBS_BIAS { \ + "OBS_BIAS", \ + 2, \ + { { "accBias", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_bias_t, accBias) }, \ + { "gyroBias", NULL, MAVLINK_TYPE_FLOAT, 3, 12, offsetof(mavlink_obs_bias_t, gyroBias) }, \ + } \ +} + + +/** + * @brief Pack a obs_bias 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 accBias accelerometer bias + * @param gyroBias gyroscope bias + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_obs_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + const float *accBias, const float *gyroBias) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + + _mav_put_float_array(buf, 0, accBias, 3); + _mav_put_float_array(buf, 12, gyroBias, 3); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); +#else + mavlink_obs_bias_t packet; + + mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); + mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_OBS_BIAS; + return mavlink_finalize_message(msg, system_id, component_id, 24, 159); +} + +/** + * @brief Pack a obs_bias 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 accBias accelerometer bias + * @param gyroBias gyroscope bias + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_obs_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + const float *accBias,const float *gyroBias) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + + _mav_put_float_array(buf, 0, accBias, 3); + _mav_put_float_array(buf, 12, gyroBias, 3); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); +#else + mavlink_obs_bias_t packet; + + mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); + mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_OBS_BIAS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 159); +} + +/** + * @brief Encode a obs_bias 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 obs_bias C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_obs_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_bias_t* obs_bias) +{ + return mavlink_msg_obs_bias_pack(system_id, component_id, msg, obs_bias->accBias, obs_bias->gyroBias); +} + +/** + * @brief Send a obs_bias message + * @param chan MAVLink channel to send the message + * + * @param accBias accelerometer bias + * @param gyroBias gyroscope bias + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_obs_bias_send(mavlink_channel_t chan, const float *accBias, const float *gyroBias) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + + _mav_put_float_array(buf, 0, accBias, 3); + _mav_put_float_array(buf, 12, gyroBias, 3); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, 24, 159); +#else + mavlink_obs_bias_t packet; + + mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3); + mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3); + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)&packet, 24, 159); +#endif +} + +#endif + +// MESSAGE OBS_BIAS UNPACKING + + +/** + * @brief Get field accBias from obs_bias message + * + * @return accelerometer bias + */ +static inline uint16_t mavlink_msg_obs_bias_get_accBias(const mavlink_message_t* msg, float *accBias) +{ + return _MAV_RETURN_float_array(msg, accBias, 3, 0); +} + +/** + * @brief Get field gyroBias from obs_bias message + * + * @return gyroscope bias + */ +static inline uint16_t mavlink_msg_obs_bias_get_gyroBias(const mavlink_message_t* msg, float *gyroBias) +{ + return _MAV_RETURN_float_array(msg, gyroBias, 3, 12); +} + +/** + * @brief Decode a obs_bias message into a struct + * + * @param msg The message to decode + * @param obs_bias C-struct to decode the message contents into + */ +static inline void mavlink_msg_obs_bias_decode(const mavlink_message_t* msg, mavlink_obs_bias_t* obs_bias) +{ +#if MAVLINK_NEED_BYTE_SWAP + mavlink_msg_obs_bias_get_accBias(msg, obs_bias->accBias); + mavlink_msg_obs_bias_get_gyroBias(msg, obs_bias->gyroBias); +#else + memcpy(obs_bias, _MAV_PAYLOAD(msg), 24); +#endif +} |