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// MESSAGE SIMSTATE PACKING
#define MAVLINK_MSG_ID_SIMSTATE 164
typedef struct __mavlink_simstate_t
{
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float xacc; ///< X acceleration m/s/s
float yacc; ///< Y acceleration m/s/s
float zacc; ///< Z acceleration m/s/s
float xgyro; ///< Angular speed around X axis rad/s
float ygyro; ///< Angular speed around Y axis rad/s
float zgyro; ///< Angular speed around Z axis rad/s
int32_t lat; ///< Latitude in degrees * 1E7
int32_t lng; ///< Longitude in degrees * 1E7
} mavlink_simstate_t;
#define MAVLINK_MSG_ID_SIMSTATE_LEN 44
#define MAVLINK_MSG_ID_164_LEN 44
#define MAVLINK_MSG_ID_SIMSTATE_CRC 154
#define MAVLINK_MSG_ID_164_CRC 154
#define MAVLINK_MESSAGE_INFO_SIMSTATE { \
"SIMSTATE", \
11, \
{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_simstate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_simstate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_simstate_t, yaw) }, \
{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_simstate_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_simstate_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_simstate_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_simstate_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_simstate_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_simstate_t, zgyro) }, \
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_simstate_t, lat) }, \
{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_simstate_t, lng) }, \
} \
}
/**
* @brief Pack a simstate 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 roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param xacc X acceleration m/s/s
* @param yacc Y acceleration m/s/s
* @param zacc Z acceleration m/s/s
* @param xgyro Angular speed around X axis rad/s
* @param ygyro Angular speed around Y axis rad/s
* @param zgyro Angular speed around Z axis rad/s
* @param lat Latitude in degrees * 1E7
* @param lng Longitude in degrees * 1E7
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_simstate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, xacc);
_mav_put_float(buf, 16, yacc);
_mav_put_float(buf, 20, zacc);
_mav_put_float(buf, 24, xgyro);
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
_mav_put_int32_t(buf, 36, lat);
_mav_put_int32_t(buf, 40, lng);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
#else
mavlink_simstate_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.lat = lat;
packet.lng = lng;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
}
/**
* @brief Pack a simstate 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param xacc X acceleration m/s/s
* @param yacc Y acceleration m/s/s
* @param zacc Z acceleration m/s/s
* @param xgyro Angular speed around X axis rad/s
* @param ygyro Angular speed around Y axis rad/s
* @param zgyro Angular speed around Z axis rad/s
* @param lat Latitude in degrees * 1E7
* @param lng Longitude in degrees * 1E7
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_simstate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float roll,float pitch,float yaw,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,int32_t lat,int32_t lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, xacc);
_mav_put_float(buf, 16, yacc);
_mav_put_float(buf, 20, zacc);
_mav_put_float(buf, 24, xgyro);
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
_mav_put_int32_t(buf, 36, lat);
_mav_put_int32_t(buf, 40, lng);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
#else
mavlink_simstate_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.lat = lat;
packet.lng = lng;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_SIMSTATE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
}
/**
* @brief Encode a simstate struct
*
* @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 simstate C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_simstate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
{
return mavlink_msg_simstate_pack(system_id, component_id, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
}
/**
* @brief Encode a simstate struct 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 will be sent over
* @param msg The MAVLink message to compress the data into
* @param simstate C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_simstate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_simstate_t* simstate)
{
return mavlink_msg_simstate_pack_chan(system_id, component_id, chan, msg, simstate->roll, simstate->pitch, simstate->yaw, simstate->xacc, simstate->yacc, simstate->zacc, simstate->xgyro, simstate->ygyro, simstate->zgyro, simstate->lat, simstate->lng);
}
/**
* @brief Send a simstate message
* @param chan MAVLink channel to send the message
*
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param xacc X acceleration m/s/s
* @param yacc Y acceleration m/s/s
* @param zacc Z acceleration m/s/s
* @param xgyro Angular speed around X axis rad/s
* @param ygyro Angular speed around Y axis rad/s
* @param zgyro Angular speed around Z axis rad/s
* @param lat Latitude in degrees * 1E7
* @param lng Longitude in degrees * 1E7
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_simstate_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, int32_t lat, int32_t lng)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_SIMSTATE_LEN];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, xacc);
_mav_put_float(buf, 16, yacc);
_mav_put_float(buf, 20, zacc);
_mav_put_float(buf, 24, xgyro);
_mav_put_float(buf, 28, ygyro);
_mav_put_float(buf, 32, zgyro);
_mav_put_int32_t(buf, 36, lat);
_mav_put_int32_t(buf, 40, lng);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, buf, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
#else
mavlink_simstate_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.xacc = xacc;
packet.yacc = yacc;
packet.zacc = zacc;
packet.xgyro = xgyro;
packet.ygyro = ygyro;
packet.zgyro = zgyro;
packet.lat = lat;
packet.lng = lng;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, MAVLINK_MSG_ID_SIMSTATE_LEN, MAVLINK_MSG_ID_SIMSTATE_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SIMSTATE, (const char *)&packet, MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
#endif
}
#endif
// MESSAGE SIMSTATE UNPACKING
/**
* @brief Get field roll from simstate message
*
* @return Roll angle (rad)
*/
static inline float mavlink_msg_simstate_get_roll(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field pitch from simstate message
*
* @return Pitch angle (rad)
*/
static inline float mavlink_msg_simstate_get_pitch(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field yaw from simstate message
*
* @return Yaw angle (rad)
*/
static inline float mavlink_msg_simstate_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field xacc from simstate message
*
* @return X acceleration m/s/s
*/
static inline float mavlink_msg_simstate_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field yacc from simstate message
*
* @return Y acceleration m/s/s
*/
static inline float mavlink_msg_simstate_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field zacc from simstate message
*
* @return Z acceleration m/s/s
*/
static inline float mavlink_msg_simstate_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field xgyro from simstate message
*
* @return Angular speed around X axis rad/s
*/
static inline float mavlink_msg_simstate_get_xgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field ygyro from simstate message
*
* @return Angular speed around Y axis rad/s
*/
static inline float mavlink_msg_simstate_get_ygyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field zgyro from simstate message
*
* @return Angular speed around Z axis rad/s
*/
static inline float mavlink_msg_simstate_get_zgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field lat from simstate message
*
* @return Latitude in degrees * 1E7
*/
static inline int32_t mavlink_msg_simstate_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 36);
}
/**
* @brief Get field lng from simstate message
*
* @return Longitude in degrees * 1E7
*/
static inline int32_t mavlink_msg_simstate_get_lng(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 40);
}
/**
* @brief Decode a simstate message into a struct
*
* @param msg The message to decode
* @param simstate C-struct to decode the message contents into
*/
static inline void mavlink_msg_simstate_decode(const mavlink_message_t* msg, mavlink_simstate_t* simstate)
{
#if MAVLINK_NEED_BYTE_SWAP
simstate->roll = mavlink_msg_simstate_get_roll(msg);
simstate->pitch = mavlink_msg_simstate_get_pitch(msg);
simstate->yaw = mavlink_msg_simstate_get_yaw(msg);
simstate->xacc = mavlink_msg_simstate_get_xacc(msg);
simstate->yacc = mavlink_msg_simstate_get_yacc(msg);
simstate->zacc = mavlink_msg_simstate_get_zacc(msg);
simstate->xgyro = mavlink_msg_simstate_get_xgyro(msg);
simstate->ygyro = mavlink_msg_simstate_get_ygyro(msg);
simstate->zgyro = mavlink_msg_simstate_get_zgyro(msg);
simstate->lat = mavlink_msg_simstate_get_lat(msg);
simstate->lng = mavlink_msg_simstate_get_lng(msg);
#else
memcpy(simstate, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SIMSTATE_LEN);
#endif
}
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