220 lines
7.5 KiB
C
220 lines
7.5 KiB
C
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// MESSAGE OBS_ATTITUDE PACKING
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#define MAVLINK_MSG_ID_OBS_ATTITUDE 174
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typedef struct __mavlink_obs_attitude_t
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{
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double quat[4]; ///<
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} mavlink_obs_attitude_t;
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#define MAVLINK_MSG_ID_OBS_ATTITUDE_LEN 32
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#define MAVLINK_MSG_ID_174_LEN 32
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#define MAVLINK_MSG_ID_OBS_ATTITUDE_CRC 146
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#define MAVLINK_MSG_ID_174_CRC 146
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#define MAVLINK_MSG_OBS_ATTITUDE_FIELD_QUAT_LEN 4
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#define MAVLINK_MESSAGE_INFO_OBS_ATTITUDE { \
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"OBS_ATTITUDE", \
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1, \
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{ { "quat", NULL, MAVLINK_TYPE_DOUBLE, 4, 0, offsetof(mavlink_obs_attitude_t, quat) }, \
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} \
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}
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/**
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* @brief Pack a obs_attitude message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param quat
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_obs_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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const double *quat)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_OBS_ATTITUDE_LEN];
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_mav_put_double_array(buf, 0, quat, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#else
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mavlink_obs_attitude_t packet;
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mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#endif
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}
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/**
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* @brief Pack a obs_attitude message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param quat
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_obs_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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const double *quat)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_OBS_ATTITUDE_LEN];
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_mav_put_double_array(buf, 0, quat, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#else
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mavlink_obs_attitude_t packet;
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mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE;
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#if MAVLINK_CRC_EXTRA
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
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#else
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#endif
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}
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/**
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* @brief Encode a obs_attitude struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param obs_attitude C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_obs_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude)
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{
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return mavlink_msg_obs_attitude_pack(system_id, component_id, msg, obs_attitude->quat);
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}
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/**
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* @brief Encode a obs_attitude struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param obs_attitude C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_obs_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude)
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{
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return mavlink_msg_obs_attitude_pack_chan(system_id, component_id, chan, msg, obs_attitude->quat);
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}
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/**
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* @brief Send a obs_attitude message
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* @param chan MAVLink channel to send the message
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*
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* @param quat
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const double *quat)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_OBS_ATTITUDE_LEN];
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_mav_put_double_array(buf, 0, quat, 4);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#endif
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#else
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mavlink_obs_attitude_t packet;
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mav_array_memcpy(packet.quat, quat, sizeof(double)*4);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_OBS_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_obs_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const double *quat)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_double_array(buf, 0, quat, 4);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, buf, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#endif
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#else
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mavlink_obs_attitude_t *packet = (mavlink_obs_attitude_t *)msgbuf;
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mav_array_memcpy(packet->quat, quat, sizeof(double)*4);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN, MAVLINK_MSG_ID_OBS_ATTITUDE_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#endif
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#endif
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}
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#endif
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#endif
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// MESSAGE OBS_ATTITUDE UNPACKING
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/**
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* @brief Get field quat from obs_attitude message
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*
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* @return
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*/
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static inline uint16_t mavlink_msg_obs_attitude_get_quat(const mavlink_message_t* msg, double *quat)
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{
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return _MAV_RETURN_double_array(msg, quat, 4, 0);
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}
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/**
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* @brief Decode a obs_attitude message into a struct
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*
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* @param msg The message to decode
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* @param obs_attitude C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_obs_attitude_decode(const mavlink_message_t* msg, mavlink_obs_attitude_t* obs_attitude)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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mavlink_msg_obs_attitude_get_quat(msg, obs_attitude->quat);
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#else
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memcpy(obs_attitude, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_ATTITUDE_LEN);
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#endif
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}
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