diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/slugs/mavlink_msg_sensor_bias.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/slugs/mavlink_msg_sensor_bias.h | 254 |
1 files changed, 254 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/slugs/mavlink_msg_sensor_bias.h b/mavlink/include/mavlink/v1.0/slugs/mavlink_msg_sensor_bias.h new file mode 100644 index 000000000..7dec47ed3 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/slugs/mavlink_msg_sensor_bias.h @@ -0,0 +1,254 @@ +// MESSAGE SENSOR_BIAS PACKING + +#define MAVLINK_MSG_ID_SENSOR_BIAS 172 + +typedef struct __mavlink_sensor_bias_t +{ + float axBias; ///< Accelerometer X bias (m/s) + float ayBias; ///< Accelerometer Y bias (m/s) + float azBias; ///< Accelerometer Z bias (m/s) + float gxBias; ///< Gyro X bias (rad/s) + float gyBias; ///< Gyro Y bias (rad/s) + float gzBias; ///< Gyro Z bias (rad/s) +} mavlink_sensor_bias_t; + +#define MAVLINK_MSG_ID_SENSOR_BIAS_LEN 24 +#define MAVLINK_MSG_ID_172_LEN 24 + + + +#define MAVLINK_MESSAGE_INFO_SENSOR_BIAS { \ + "SENSOR_BIAS", \ + 6, \ + { { "axBias", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_bias_t, axBias) }, \ + { "ayBias", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sensor_bias_t, ayBias) }, \ + { "azBias", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sensor_bias_t, azBias) }, \ + { "gxBias", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_bias_t, gxBias) }, \ + { "gyBias", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_bias_t, gyBias) }, \ + { "gzBias", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_bias_t, gzBias) }, \ + } \ +} + + +/** + * @brief Pack a sensor_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 axBias Accelerometer X bias (m/s) + * @param ayBias Accelerometer Y bias (m/s) + * @param azBias Accelerometer Z bias (m/s) + * @param gxBias Gyro X bias (rad/s) + * @param gyBias Gyro Y bias (rad/s) + * @param gzBias Gyro Z bias (rad/s) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, axBias); + _mav_put_float(buf, 4, ayBias); + _mav_put_float(buf, 8, azBias); + _mav_put_float(buf, 12, gxBias); + _mav_put_float(buf, 16, gyBias); + _mav_put_float(buf, 20, gzBias); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); +#else + mavlink_sensor_bias_t packet; + packet.axBias = axBias; + packet.ayBias = ayBias; + packet.azBias = azBias; + packet.gxBias = gxBias; + packet.gyBias = gyBias; + packet.gzBias = gzBias; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; + return mavlink_finalize_message(msg, system_id, component_id, 24, 168); +} + +/** + * @brief Pack a sensor_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 axBias Accelerometer X bias (m/s) + * @param ayBias Accelerometer Y bias (m/s) + * @param azBias Accelerometer Z bias (m/s) + * @param gxBias Gyro X bias (rad/s) + * @param gyBias Gyro Y bias (rad/s) + * @param gzBias Gyro Z bias (rad/s) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_sensor_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float axBias,float ayBias,float azBias,float gxBias,float gyBias,float gzBias) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, axBias); + _mav_put_float(buf, 4, ayBias); + _mav_put_float(buf, 8, azBias); + _mav_put_float(buf, 12, gxBias); + _mav_put_float(buf, 16, gyBias); + _mav_put_float(buf, 20, gzBias); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24); +#else + mavlink_sensor_bias_t packet; + packet.axBias = axBias; + packet.ayBias = ayBias; + packet.azBias = azBias; + packet.gxBias = gxBias; + packet.gyBias = gyBias; + packet.gzBias = gzBias; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24); +#endif + + msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 168); +} + +/** + * @brief Encode a sensor_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 sensor_bias C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_sensor_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_bias_t* sensor_bias) +{ + return mavlink_msg_sensor_bias_pack(system_id, component_id, msg, sensor_bias->axBias, sensor_bias->ayBias, sensor_bias->azBias, sensor_bias->gxBias, sensor_bias->gyBias, sensor_bias->gzBias); +} + +/** + * @brief Send a sensor_bias message + * @param chan MAVLink channel to send the message + * + * @param axBias Accelerometer X bias (m/s) + * @param ayBias Accelerometer Y bias (m/s) + * @param azBias Accelerometer Z bias (m/s) + * @param gxBias Gyro X bias (rad/s) + * @param gyBias Gyro Y bias (rad/s) + * @param gzBias Gyro Z bias (rad/s) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_sensor_bias_send(mavlink_channel_t chan, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[24]; + _mav_put_float(buf, 0, axBias); + _mav_put_float(buf, 4, ayBias); + _mav_put_float(buf, 8, azBias); + _mav_put_float(buf, 12, gxBias); + _mav_put_float(buf, 16, gyBias); + _mav_put_float(buf, 20, gzBias); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, buf, 24, 168); +#else + mavlink_sensor_bias_t packet; + packet.axBias = axBias; + packet.ayBias = ayBias; + packet.azBias = azBias; + packet.gxBias = gxBias; + packet.gyBias = gyBias; + packet.gzBias = gzBias; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, (const char *)&packet, 24, 168); +#endif +} + +#endif + +// MESSAGE SENSOR_BIAS UNPACKING + + +/** + * @brief Get field axBias from sensor_bias message + * + * @return Accelerometer X bias (m/s) + */ +static inline float mavlink_msg_sensor_bias_get_axBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field ayBias from sensor_bias message + * + * @return Accelerometer Y bias (m/s) + */ +static inline float mavlink_msg_sensor_bias_get_ayBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field azBias from sensor_bias message + * + * @return Accelerometer Z bias (m/s) + */ +static inline float mavlink_msg_sensor_bias_get_azBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field gxBias from sensor_bias message + * + * @return Gyro X bias (rad/s) + */ +static inline float mavlink_msg_sensor_bias_get_gxBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field gyBias from sensor_bias message + * + * @return Gyro Y bias (rad/s) + */ +static inline float mavlink_msg_sensor_bias_get_gyBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field gzBias from sensor_bias message + * + * @return Gyro Z bias (rad/s) + */ +static inline float mavlink_msg_sensor_bias_get_gzBias(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Decode a sensor_bias message into a struct + * + * @param msg The message to decode + * @param sensor_bias C-struct to decode the message contents into + */ +static inline void mavlink_msg_sensor_bias_decode(const mavlink_message_t* msg, mavlink_sensor_bias_t* sensor_bias) +{ +#if MAVLINK_NEED_BYTE_SWAP + sensor_bias->axBias = mavlink_msg_sensor_bias_get_axBias(msg); + sensor_bias->ayBias = mavlink_msg_sensor_bias_get_ayBias(msg); + sensor_bias->azBias = mavlink_msg_sensor_bias_get_azBias(msg); + sensor_bias->gxBias = mavlink_msg_sensor_bias_get_gxBias(msg); + sensor_bias->gyBias = mavlink_msg_sensor_bias_get_gyBias(msg); + sensor_bias->gzBias = mavlink_msg_sensor_bias_get_gzBias(msg); +#else + memcpy(sensor_bias, _MAV_PAYLOAD(msg), 24); +#endif +} |