From 8a365179eafdf3aea98e60ab9f5882b200d4c759 Mon Sep 17 00:00:00 2001 From: px4dev Date: Sat, 4 Aug 2012 15:12:36 -0700 Subject: Fresh import of the PX4 firmware sources. --- .../v1.0/sensesoar/mavlink_msg_obs_air_velocity.h | 188 +++++++++++++++++++++ 1 file changed, 188 insertions(+) create mode 100644 mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h (limited to 'mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h') diff --git a/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h new file mode 100644 index 000000000..ef56c5c61 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/sensesoar/mavlink_msg_obs_air_velocity.h @@ -0,0 +1,188 @@ +// MESSAGE OBS_AIR_VELOCITY PACKING + +#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY 178 + +typedef struct __mavlink_obs_air_velocity_t +{ + float magnitude; ///< Air speed + float aoa; ///< angle of attack + float slip; ///< slip angle +} mavlink_obs_air_velocity_t; + +#define MAVLINK_MSG_ID_OBS_AIR_VELOCITY_LEN 12 +#define MAVLINK_MSG_ID_178_LEN 12 + + + +#define MAVLINK_MESSAGE_INFO_OBS_AIR_VELOCITY { \ + "OBS_AIR_VELOCITY", \ + 3, \ + { { "magnitude", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_obs_air_velocity_t, magnitude) }, \ + { "aoa", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_obs_air_velocity_t, aoa) }, \ + { "slip", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_obs_air_velocity_t, slip) }, \ + } \ +} + + +/** + * @brief Pack a obs_air_velocity 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 magnitude Air speed + * @param aoa angle of attack + * @param slip slip angle + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_obs_air_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + float magnitude, float aoa, float slip) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_float(buf, 0, magnitude); + _mav_put_float(buf, 4, aoa); + _mav_put_float(buf, 8, slip); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); +#else + mavlink_obs_air_velocity_t packet; + packet.magnitude = magnitude; + packet.aoa = aoa; + packet.slip = slip; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY; + return mavlink_finalize_message(msg, system_id, component_id, 12, 32); +} + +/** + * @brief Pack a obs_air_velocity 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 magnitude Air speed + * @param aoa angle of attack + * @param slip slip angle + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_obs_air_velocity_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + float magnitude,float aoa,float slip) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_float(buf, 0, magnitude); + _mav_put_float(buf, 4, aoa); + _mav_put_float(buf, 8, slip); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12); +#else + mavlink_obs_air_velocity_t packet; + packet.magnitude = magnitude; + packet.aoa = aoa; + packet.slip = slip; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12); +#endif + + msg->msgid = MAVLINK_MSG_ID_OBS_AIR_VELOCITY; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 32); +} + +/** + * @brief Encode a obs_air_velocity 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_air_velocity C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_obs_air_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_air_velocity_t* obs_air_velocity) +{ + return mavlink_msg_obs_air_velocity_pack(system_id, component_id, msg, obs_air_velocity->magnitude, obs_air_velocity->aoa, obs_air_velocity->slip); +} + +/** + * @brief Send a obs_air_velocity message + * @param chan MAVLink channel to send the message + * + * @param magnitude Air speed + * @param aoa angle of attack + * @param slip slip angle + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_obs_air_velocity_send(mavlink_channel_t chan, float magnitude, float aoa, float slip) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[12]; + _mav_put_float(buf, 0, magnitude); + _mav_put_float(buf, 4, aoa); + _mav_put_float(buf, 8, slip); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, buf, 12, 32); +#else + mavlink_obs_air_velocity_t packet; + packet.magnitude = magnitude; + packet.aoa = aoa; + packet.slip = slip; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_AIR_VELOCITY, (const char *)&packet, 12, 32); +#endif +} + +#endif + +// MESSAGE OBS_AIR_VELOCITY UNPACKING + + +/** + * @brief Get field magnitude from obs_air_velocity message + * + * @return Air speed + */ +static inline float mavlink_msg_obs_air_velocity_get_magnitude(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 0); +} + +/** + * @brief Get field aoa from obs_air_velocity message + * + * @return angle of attack + */ +static inline float mavlink_msg_obs_air_velocity_get_aoa(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field slip from obs_air_velocity message + * + * @return slip angle + */ +static inline float mavlink_msg_obs_air_velocity_get_slip(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Decode a obs_air_velocity message into a struct + * + * @param msg The message to decode + * @param obs_air_velocity C-struct to decode the message contents into + */ +static inline void mavlink_msg_obs_air_velocity_decode(const mavlink_message_t* msg, mavlink_obs_air_velocity_t* obs_air_velocity) +{ +#if MAVLINK_NEED_BYTE_SWAP + obs_air_velocity->magnitude = mavlink_msg_obs_air_velocity_get_magnitude(msg); + obs_air_velocity->aoa = mavlink_msg_obs_air_velocity_get_aoa(msg); + obs_air_velocity->slip = mavlink_msg_obs_air_velocity_get_slip(msg); +#else + memcpy(obs_air_velocity, _MAV_PAYLOAD(msg), 12); +#endif +} -- cgit v1.2.3