255 lines
8.4 KiB
C
255 lines
8.4 KiB
C
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// MESSAGE OBS_BIAS PACKING
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#define MAVLINK_MSG_ID_OBS_BIAS 180
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typedef struct __mavlink_obs_bias_t
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{
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float accBias[3]; ///<
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float gyroBias[3]; ///<
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} mavlink_obs_bias_t;
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#define MAVLINK_MSG_ID_OBS_BIAS_LEN 24
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#define MAVLINK_MSG_ID_180_LEN 24
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#define MAVLINK_MSG_ID_OBS_BIAS_CRC 159
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#define MAVLINK_MSG_ID_180_CRC 159
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#define MAVLINK_MSG_OBS_BIAS_FIELD_ACCBIAS_LEN 3
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#define MAVLINK_MSG_OBS_BIAS_FIELD_GYROBIAS_LEN 3
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#define MAVLINK_MESSAGE_INFO_OBS_BIAS { \
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"OBS_BIAS", \
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2, \
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{ { "accBias", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_bias_t, accBias) }, \
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{ "gyroBias", NULL, MAVLINK_TYPE_FLOAT, 3, 12, offsetof(mavlink_obs_bias_t, gyroBias) }, \
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} \
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}
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/**
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* @brief Pack a obs_bias 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 accBias
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* @param gyroBias
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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_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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const float *accBias, const float *gyroBias)
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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_BIAS_LEN];
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_mav_put_float_array(buf, 0, accBias, 3);
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_mav_put_float_array(buf, 12, gyroBias, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_BIAS_LEN);
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#else
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mavlink_obs_bias_t packet;
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mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
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mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_BIAS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_OBS_BIAS;
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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_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC);
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#else
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBS_BIAS_LEN);
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#endif
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}
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/**
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* @brief Pack a obs_bias 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 accBias
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* @param gyroBias
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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_bias_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 float *accBias,const float *gyroBias)
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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_BIAS_LEN];
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_mav_put_float_array(buf, 0, accBias, 3);
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_mav_put_float_array(buf, 12, gyroBias, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBS_BIAS_LEN);
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#else
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mavlink_obs_bias_t packet;
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mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
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mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBS_BIAS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_OBS_BIAS;
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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_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_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_BIAS_LEN);
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#endif
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}
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/**
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* @brief Encode a obs_bias 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_bias C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_obs_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_bias_t* obs_bias)
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{
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return mavlink_msg_obs_bias_pack(system_id, component_id, msg, obs_bias->accBias, obs_bias->gyroBias);
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}
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/**
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* @brief Encode a obs_bias 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_bias C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_obs_bias_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obs_bias_t* obs_bias)
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{
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return mavlink_msg_obs_bias_pack_chan(system_id, component_id, chan, msg, obs_bias->accBias, obs_bias->gyroBias);
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}
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/**
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* @brief Send a obs_bias message
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* @param chan MAVLink channel to send the message
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*
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* @param accBias
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* @param gyroBias
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_obs_bias_send(mavlink_channel_t chan, const float *accBias, const float *gyroBias)
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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_BIAS_LEN];
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_mav_put_float_array(buf, 0, accBias, 3);
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_mav_put_float_array(buf, 12, gyroBias, 3);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, MAVLINK_MSG_ID_OBS_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, MAVLINK_MSG_ID_OBS_BIAS_LEN);
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#endif
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#else
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mavlink_obs_bias_t packet;
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mav_array_memcpy(packet.accBias, accBias, sizeof(float)*3);
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mav_array_memcpy(packet.gyroBias, gyroBias, sizeof(float)*3);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)&packet, MAVLINK_MSG_ID_OBS_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)&packet, MAVLINK_MSG_ID_OBS_BIAS_LEN);
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#endif
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#endif
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}
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#if MAVLINK_MSG_ID_OBS_BIAS_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_bias_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, const float *accBias, const float *gyroBias)
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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_float_array(buf, 0, accBias, 3);
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_mav_put_float_array(buf, 12, gyroBias, 3);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, MAVLINK_MSG_ID_OBS_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, buf, MAVLINK_MSG_ID_OBS_BIAS_LEN);
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#endif
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#else
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mavlink_obs_bias_t *packet = (mavlink_obs_bias_t *)msgbuf;
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mav_array_memcpy(packet->accBias, accBias, sizeof(float)*3);
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mav_array_memcpy(packet->gyroBias, gyroBias, sizeof(float)*3);
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#if MAVLINK_CRC_EXTRA
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)packet, MAVLINK_MSG_ID_OBS_BIAS_LEN, MAVLINK_MSG_ID_OBS_BIAS_CRC);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_BIAS, (const char *)packet, MAVLINK_MSG_ID_OBS_BIAS_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_BIAS UNPACKING
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/**
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* @brief Get field accBias from obs_bias 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_bias_get_accBias(const mavlink_message_t* msg, float *accBias)
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{
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return _MAV_RETURN_float_array(msg, accBias, 3, 0);
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}
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/**
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* @brief Get field gyroBias from obs_bias 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_bias_get_gyroBias(const mavlink_message_t* msg, float *gyroBias)
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{
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return _MAV_RETURN_float_array(msg, gyroBias, 3, 12);
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}
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/**
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* @brief Decode a obs_bias message into a struct
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*
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* @param msg The message to decode
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* @param obs_bias C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_obs_bias_decode(const mavlink_message_t* msg, mavlink_obs_bias_t* obs_bias)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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mavlink_msg_obs_bias_get_accBias(msg, obs_bias->accBias);
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mavlink_msg_obs_bias_get_gyroBias(msg, obs_bias->gyroBias);
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#else
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memcpy(obs_bias, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_OBS_BIAS_LEN);
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#endif
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}
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