diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/ualberta/mavlink_msg_nav_filter_bias.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/ualberta/mavlink_msg_nav_filter_bias.h | 276 |
1 files changed, 276 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/ualberta/mavlink_msg_nav_filter_bias.h b/mavlink/include/mavlink/v1.0/ualberta/mavlink_msg_nav_filter_bias.h new file mode 100644 index 000000000..e9f49e4ed --- /dev/null +++ b/mavlink/include/mavlink/v1.0/ualberta/mavlink_msg_nav_filter_bias.h @@ -0,0 +1,276 @@ +// MESSAGE NAV_FILTER_BIAS PACKING + +#define MAVLINK_MSG_ID_NAV_FILTER_BIAS 220 + +typedef struct __mavlink_nav_filter_bias_t +{ + uint64_t usec; ///< Timestamp (microseconds) + float accel_0; ///< b_f[0] + float accel_1; ///< b_f[1] + float accel_2; ///< b_f[2] + float gyro_0; ///< b_f[0] + float gyro_1; ///< b_f[1] + float gyro_2; ///< b_f[2] +} mavlink_nav_filter_bias_t; + +#define MAVLINK_MSG_ID_NAV_FILTER_BIAS_LEN 32 +#define MAVLINK_MSG_ID_220_LEN 32 + + + +#define MAVLINK_MESSAGE_INFO_NAV_FILTER_BIAS { \ + "NAV_FILTER_BIAS", \ + 7, \ + { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_nav_filter_bias_t, usec) }, \ + { "accel_0", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_nav_filter_bias_t, accel_0) }, \ + { "accel_1", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_nav_filter_bias_t, accel_1) }, \ + { "accel_2", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_nav_filter_bias_t, accel_2) }, \ + { "gyro_0", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_nav_filter_bias_t, gyro_0) }, \ + { "gyro_1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_nav_filter_bias_t, gyro_1) }, \ + { "gyro_2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_nav_filter_bias_t, gyro_2) }, \ + } \ +} + + +/** + * @brief Pack a nav_filter_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 usec Timestamp (microseconds) + * @param accel_0 b_f[0] + * @param accel_1 b_f[1] + * @param accel_2 b_f[2] + * @param gyro_0 b_f[0] + * @param gyro_1 b_f[1] + * @param gyro_2 b_f[2] + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_nav_filter_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, accel_0); + _mav_put_float(buf, 12, accel_1); + _mav_put_float(buf, 16, accel_2); + _mav_put_float(buf, 20, gyro_0); + _mav_put_float(buf, 24, gyro_1); + _mav_put_float(buf, 28, gyro_2); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); +#else + mavlink_nav_filter_bias_t packet; + packet.usec = usec; + packet.accel_0 = accel_0; + packet.accel_1 = accel_1; + packet.accel_2 = accel_2; + packet.gyro_0 = gyro_0; + packet.gyro_1 = gyro_1; + packet.gyro_2 = gyro_2; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; + return mavlink_finalize_message(msg, system_id, component_id, 32, 34); +} + +/** + * @brief Pack a nav_filter_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 usec Timestamp (microseconds) + * @param accel_0 b_f[0] + * @param accel_1 b_f[1] + * @param accel_2 b_f[2] + * @param gyro_0 b_f[0] + * @param gyro_1 b_f[1] + * @param gyro_2 b_f[2] + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_nav_filter_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t usec,float accel_0,float accel_1,float accel_2,float gyro_0,float gyro_1,float gyro_2) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, accel_0); + _mav_put_float(buf, 12, accel_1); + _mav_put_float(buf, 16, accel_2); + _mav_put_float(buf, 20, gyro_0); + _mav_put_float(buf, 24, gyro_1); + _mav_put_float(buf, 28, gyro_2); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32); +#else + mavlink_nav_filter_bias_t packet; + packet.usec = usec; + packet.accel_0 = accel_0; + packet.accel_1 = accel_1; + packet.accel_2 = accel_2; + packet.gyro_0 = gyro_0; + packet.gyro_1 = gyro_1; + packet.gyro_2 = gyro_2; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32); +#endif + + msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 34); +} + +/** + * @brief Encode a nav_filter_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 nav_filter_bias C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_nav_filter_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_filter_bias_t* nav_filter_bias) +{ + return mavlink_msg_nav_filter_bias_pack(system_id, component_id, msg, nav_filter_bias->usec, nav_filter_bias->accel_0, nav_filter_bias->accel_1, nav_filter_bias->accel_2, nav_filter_bias->gyro_0, nav_filter_bias->gyro_1, nav_filter_bias->gyro_2); +} + +/** + * @brief Send a nav_filter_bias message + * @param chan MAVLink channel to send the message + * + * @param usec Timestamp (microseconds) + * @param accel_0 b_f[0] + * @param accel_1 b_f[1] + * @param accel_2 b_f[2] + * @param gyro_0 b_f[0] + * @param gyro_1 b_f[1] + * @param gyro_2 b_f[2] + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_nav_filter_bias_send(mavlink_channel_t chan, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[32]; + _mav_put_uint64_t(buf, 0, usec); + _mav_put_float(buf, 8, accel_0); + _mav_put_float(buf, 12, accel_1); + _mav_put_float(buf, 16, accel_2); + _mav_put_float(buf, 20, gyro_0); + _mav_put_float(buf, 24, gyro_1); + _mav_put_float(buf, 28, gyro_2); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_FILTER_BIAS, buf, 32, 34); +#else + mavlink_nav_filter_bias_t packet; + packet.usec = usec; + packet.accel_0 = accel_0; + packet.accel_1 = accel_1; + packet.accel_2 = accel_2; + packet.gyro_0 = gyro_0; + packet.gyro_1 = gyro_1; + packet.gyro_2 = gyro_2; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_NAV_FILTER_BIAS, (const char *)&packet, 32, 34); +#endif +} + +#endif + +// MESSAGE NAV_FILTER_BIAS UNPACKING + + +/** + * @brief Get field usec from nav_filter_bias message + * + * @return Timestamp (microseconds) + */ +static inline uint64_t mavlink_msg_nav_filter_bias_get_usec(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field accel_0 from nav_filter_bias message + * + * @return b_f[0] + */ +static inline float mavlink_msg_nav_filter_bias_get_accel_0(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field accel_1 from nav_filter_bias message + * + * @return b_f[1] + */ +static inline float mavlink_msg_nav_filter_bias_get_accel_1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field accel_2 from nav_filter_bias message + * + * @return b_f[2] + */ +static inline float mavlink_msg_nav_filter_bias_get_accel_2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field gyro_0 from nav_filter_bias message + * + * @return b_f[0] + */ +static inline float mavlink_msg_nav_filter_bias_get_gyro_0(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field gyro_1 from nav_filter_bias message + * + * @return b_f[1] + */ +static inline float mavlink_msg_nav_filter_bias_get_gyro_1(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field gyro_2 from nav_filter_bias message + * + * @return b_f[2] + */ +static inline float mavlink_msg_nav_filter_bias_get_gyro_2(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Decode a nav_filter_bias message into a struct + * + * @param msg The message to decode + * @param nav_filter_bias C-struct to decode the message contents into + */ +static inline void mavlink_msg_nav_filter_bias_decode(const mavlink_message_t* msg, mavlink_nav_filter_bias_t* nav_filter_bias) +{ +#if MAVLINK_NEED_BYTE_SWAP + nav_filter_bias->usec = mavlink_msg_nav_filter_bias_get_usec(msg); + nav_filter_bias->accel_0 = mavlink_msg_nav_filter_bias_get_accel_0(msg); + nav_filter_bias->accel_1 = mavlink_msg_nav_filter_bias_get_accel_1(msg); + nav_filter_bias->accel_2 = mavlink_msg_nav_filter_bias_get_accel_2(msg); + nav_filter_bias->gyro_0 = mavlink_msg_nav_filter_bias_get_gyro_0(msg); + nav_filter_bias->gyro_1 = mavlink_msg_nav_filter_bias_get_gyro_1(msg); + nav_filter_bias->gyro_2 = mavlink_msg_nav_filter_bias_get_gyro_2(msg); +#else + memcpy(nav_filter_bias, _MAV_PAYLOAD(msg), 32); +#endif +} |