update protocol
This commit is contained in:
Matt
@@ -5,22 +5,22 @@
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MAVPACKED(
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typedef struct __mavlink_hil_state_quaternion_t {
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uint64_t time_usec; /*< [us] Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
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uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
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float attitude_quaternion[4]; /*< Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)*/
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float rollspeed; /*< [rad/s] Body frame roll / phi angular speed (rad/s)*/
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float pitchspeed; /*< [rad/s] Body frame pitch / theta angular speed (rad/s)*/
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float yawspeed; /*< [rad/s] Body frame yaw / psi angular speed (rad/s)*/
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int32_t lat; /*< [degE7] Latitude, expressed as degrees * 1E7*/
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int32_t lon; /*< [degE7] Longitude, expressed as degrees * 1E7*/
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int32_t alt; /*< [mm] Altitude in meters, expressed as * 1000 (millimeters)*/
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int16_t vx; /*< [cm/s] Ground X Speed (Latitude), expressed as cm/s*/
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int16_t vy; /*< [cm/s] Ground Y Speed (Longitude), expressed as cm/s*/
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int16_t vz; /*< [cm/s] Ground Z Speed (Altitude), expressed as cm/s*/
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uint16_t ind_airspeed; /*< [cm/s] Indicated airspeed, expressed as cm/s*/
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uint16_t true_airspeed; /*< [cm/s] True airspeed, expressed as cm/s*/
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int16_t xacc; /*< [mG] X acceleration (mg)*/
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int16_t yacc; /*< [mG] Y acceleration (mg)*/
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int16_t zacc; /*< [mG] Z acceleration (mg)*/
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float rollspeed; /*< [rad/s] Body frame roll / phi angular speed*/
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float pitchspeed; /*< [rad/s] Body frame pitch / theta angular speed*/
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float yawspeed; /*< [rad/s] Body frame yaw / psi angular speed*/
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int32_t lat; /*< [degE7] Latitude*/
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int32_t lon; /*< [degE7] Longitude*/
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int32_t alt; /*< [mm] Altitude*/
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int16_t vx; /*< [cm/s] Ground X Speed (Latitude)*/
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int16_t vy; /*< [cm/s] Ground Y Speed (Longitude)*/
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int16_t vz; /*< [cm/s] Ground Z Speed (Altitude)*/
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uint16_t ind_airspeed; /*< [cm/s] Indicated airspeed*/
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uint16_t true_airspeed; /*< [cm/s] True airspeed*/
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int16_t xacc; /*< [mG] X acceleration*/
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int16_t yacc; /*< [mG] Y acceleration*/
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int16_t zacc; /*< [mG] Z acceleration*/
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}) mavlink_hil_state_quaternion_t;
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#define MAVLINK_MSG_ID_HIL_STATE_QUATERNION_LEN 64
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@@ -86,22 +86,22 @@ typedef struct __mavlink_hil_state_quaternion_t {
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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 time_usec [us] Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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* @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
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* @param rollspeed [rad/s] Body frame roll / phi angular speed (rad/s)
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* @param pitchspeed [rad/s] Body frame pitch / theta angular speed (rad/s)
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* @param yawspeed [rad/s] Body frame yaw / psi angular speed (rad/s)
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* @param lat [degE7] Latitude, expressed as degrees * 1E7
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* @param lon [degE7] Longitude, expressed as degrees * 1E7
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* @param alt [mm] Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx [cm/s] Ground X Speed (Latitude), expressed as cm/s
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* @param vy [cm/s] Ground Y Speed (Longitude), expressed as cm/s
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* @param vz [cm/s] Ground Z Speed (Altitude), expressed as cm/s
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* @param ind_airspeed [cm/s] Indicated airspeed, expressed as cm/s
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* @param true_airspeed [cm/s] True airspeed, expressed as cm/s
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* @param xacc [mG] X acceleration (mg)
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* @param yacc [mG] Y acceleration (mg)
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* @param zacc [mG] Z acceleration (mg)
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* @param rollspeed [rad/s] Body frame roll / phi angular speed
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* @param pitchspeed [rad/s] Body frame pitch / theta angular speed
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* @param yawspeed [rad/s] Body frame yaw / psi angular speed
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* @param lat [degE7] Latitude
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* @param lon [degE7] Longitude
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* @param alt [mm] Altitude
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* @param vx [cm/s] Ground X Speed (Latitude)
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* @param vy [cm/s] Ground Y Speed (Longitude)
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* @param vz [cm/s] Ground Z Speed (Altitude)
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* @param ind_airspeed [cm/s] Indicated airspeed
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* @param true_airspeed [cm/s] True airspeed
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* @param xacc [mG] X acceleration
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* @param yacc [mG] Y acceleration
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* @param zacc [mG] Z acceleration
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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_hil_state_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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@@ -157,22 +157,22 @@ static inline uint16_t mavlink_msg_hil_state_quaternion_pack(uint8_t system_id,
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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 time_usec [us] Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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* @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
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* @param rollspeed [rad/s] Body frame roll / phi angular speed (rad/s)
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* @param pitchspeed [rad/s] Body frame pitch / theta angular speed (rad/s)
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* @param yawspeed [rad/s] Body frame yaw / psi angular speed (rad/s)
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* @param lat [degE7] Latitude, expressed as degrees * 1E7
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* @param lon [degE7] Longitude, expressed as degrees * 1E7
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* @param alt [mm] Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx [cm/s] Ground X Speed (Latitude), expressed as cm/s
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* @param vy [cm/s] Ground Y Speed (Longitude), expressed as cm/s
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* @param vz [cm/s] Ground Z Speed (Altitude), expressed as cm/s
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* @param ind_airspeed [cm/s] Indicated airspeed, expressed as cm/s
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* @param true_airspeed [cm/s] True airspeed, expressed as cm/s
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* @param xacc [mG] X acceleration (mg)
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* @param yacc [mG] Y acceleration (mg)
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* @param zacc [mG] Z acceleration (mg)
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* @param rollspeed [rad/s] Body frame roll / phi angular speed
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* @param pitchspeed [rad/s] Body frame pitch / theta angular speed
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* @param yawspeed [rad/s] Body frame yaw / psi angular speed
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* @param lat [degE7] Latitude
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* @param lon [degE7] Longitude
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* @param alt [mm] Altitude
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* @param vx [cm/s] Ground X Speed (Latitude)
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* @param vy [cm/s] Ground Y Speed (Longitude)
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* @param vz [cm/s] Ground Z Speed (Altitude)
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* @param ind_airspeed [cm/s] Indicated airspeed
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* @param true_airspeed [cm/s] True airspeed
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* @param xacc [mG] X acceleration
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* @param yacc [mG] Y acceleration
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* @param zacc [mG] Z acceleration
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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_hil_state_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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@@ -254,22 +254,22 @@ static inline uint16_t mavlink_msg_hil_state_quaternion_encode_chan(uint8_t syst
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* @brief Send a hil_state_quaternion message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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* @param attitude_quaternion Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
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* @param rollspeed [rad/s] Body frame roll / phi angular speed (rad/s)
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* @param pitchspeed [rad/s] Body frame pitch / theta angular speed (rad/s)
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* @param yawspeed [rad/s] Body frame yaw / psi angular speed (rad/s)
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* @param lat [degE7] Latitude, expressed as degrees * 1E7
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* @param lon [degE7] Longitude, expressed as degrees * 1E7
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* @param alt [mm] Altitude in meters, expressed as * 1000 (millimeters)
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* @param vx [cm/s] Ground X Speed (Latitude), expressed as cm/s
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* @param vy [cm/s] Ground Y Speed (Longitude), expressed as cm/s
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* @param vz [cm/s] Ground Z Speed (Altitude), expressed as cm/s
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* @param ind_airspeed [cm/s] Indicated airspeed, expressed as cm/s
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* @param true_airspeed [cm/s] True airspeed, expressed as cm/s
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* @param xacc [mG] X acceleration (mg)
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* @param yacc [mG] Y acceleration (mg)
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* @param zacc [mG] Z acceleration (mg)
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* @param rollspeed [rad/s] Body frame roll / phi angular speed
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* @param pitchspeed [rad/s] Body frame pitch / theta angular speed
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* @param yawspeed [rad/s] Body frame yaw / psi angular speed
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* @param lat [degE7] Latitude
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* @param lon [degE7] Longitude
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* @param alt [mm] Altitude
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* @param vx [cm/s] Ground X Speed (Latitude)
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* @param vy [cm/s] Ground Y Speed (Longitude)
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* @param vz [cm/s] Ground Z Speed (Altitude)
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* @param ind_airspeed [cm/s] Indicated airspeed
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* @param true_airspeed [cm/s] True airspeed
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* @param xacc [mG] X acceleration
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* @param yacc [mG] Y acceleration
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* @param zacc [mG] Z acceleration
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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@@ -390,7 +390,7 @@ static inline void mavlink_msg_hil_state_quaternion_send_buf(mavlink_message_t *
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/**
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* @brief Get field time_usec from hil_state_quaternion message
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*
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* @return [us] Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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*/
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static inline uint64_t mavlink_msg_hil_state_quaternion_get_time_usec(const mavlink_message_t* msg)
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{
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@@ -410,7 +410,7 @@ static inline uint16_t mavlink_msg_hil_state_quaternion_get_attitude_quaternion(
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/**
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* @brief Get field rollspeed from hil_state_quaternion message
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*
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* @return [rad/s] Body frame roll / phi angular speed (rad/s)
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* @return [rad/s] Body frame roll / phi angular speed
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*/
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static inline float mavlink_msg_hil_state_quaternion_get_rollspeed(const mavlink_message_t* msg)
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{
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@@ -420,7 +420,7 @@ static inline float mavlink_msg_hil_state_quaternion_get_rollspeed(const mavlink
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/**
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* @brief Get field pitchspeed from hil_state_quaternion message
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*
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* @return [rad/s] Body frame pitch / theta angular speed (rad/s)
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* @return [rad/s] Body frame pitch / theta angular speed
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*/
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static inline float mavlink_msg_hil_state_quaternion_get_pitchspeed(const mavlink_message_t* msg)
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{
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@@ -430,7 +430,7 @@ static inline float mavlink_msg_hil_state_quaternion_get_pitchspeed(const mavlin
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/**
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* @brief Get field yawspeed from hil_state_quaternion message
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*
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* @return [rad/s] Body frame yaw / psi angular speed (rad/s)
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* @return [rad/s] Body frame yaw / psi angular speed
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*/
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static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_message_t* msg)
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{
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@@ -440,7 +440,7 @@ static inline float mavlink_msg_hil_state_quaternion_get_yawspeed(const mavlink_
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/**
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* @brief Get field lat from hil_state_quaternion message
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*
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* @return [degE7] Latitude, expressed as degrees * 1E7
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* @return [degE7] Latitude
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*/
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static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_message_t* msg)
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{
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@@ -450,7 +450,7 @@ static inline int32_t mavlink_msg_hil_state_quaternion_get_lat(const mavlink_mes
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/**
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* @brief Get field lon from hil_state_quaternion message
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*
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* @return [degE7] Longitude, expressed as degrees * 1E7
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* @return [degE7] Longitude
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*/
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static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_message_t* msg)
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{
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@@ -460,7 +460,7 @@ static inline int32_t mavlink_msg_hil_state_quaternion_get_lon(const mavlink_mes
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/**
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* @brief Get field alt from hil_state_quaternion message
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*
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* @return [mm] Altitude in meters, expressed as * 1000 (millimeters)
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* @return [mm] Altitude
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*/
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static inline int32_t mavlink_msg_hil_state_quaternion_get_alt(const mavlink_message_t* msg)
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{
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@@ -470,7 +470,7 @@ static inline int32_t mavlink_msg_hil_state_quaternion_get_alt(const mavlink_mes
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/**
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* @brief Get field vx from hil_state_quaternion message
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*
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* @return [cm/s] Ground X Speed (Latitude), expressed as cm/s
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* @return [cm/s] Ground X Speed (Latitude)
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*/
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static inline int16_t mavlink_msg_hil_state_quaternion_get_vx(const mavlink_message_t* msg)
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{
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@@ -480,7 +480,7 @@ static inline int16_t mavlink_msg_hil_state_quaternion_get_vx(const mavlink_mess
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/**
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* @brief Get field vy from hil_state_quaternion message
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*
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* @return [cm/s] Ground Y Speed (Longitude), expressed as cm/s
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* @return [cm/s] Ground Y Speed (Longitude)
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*/
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static inline int16_t mavlink_msg_hil_state_quaternion_get_vy(const mavlink_message_t* msg)
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{
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@@ -490,7 +490,7 @@ static inline int16_t mavlink_msg_hil_state_quaternion_get_vy(const mavlink_mess
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/**
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* @brief Get field vz from hil_state_quaternion message
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*
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* @return [cm/s] Ground Z Speed (Altitude), expressed as cm/s
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* @return [cm/s] Ground Z Speed (Altitude)
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*/
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static inline int16_t mavlink_msg_hil_state_quaternion_get_vz(const mavlink_message_t* msg)
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{
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@@ -500,7 +500,7 @@ static inline int16_t mavlink_msg_hil_state_quaternion_get_vz(const mavlink_mess
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/**
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* @brief Get field ind_airspeed from hil_state_quaternion message
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*
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* @return [cm/s] Indicated airspeed, expressed as cm/s
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* @return [cm/s] Indicated airspeed
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*/
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static inline uint16_t mavlink_msg_hil_state_quaternion_get_ind_airspeed(const mavlink_message_t* msg)
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{
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@@ -510,7 +510,7 @@ static inline uint16_t mavlink_msg_hil_state_quaternion_get_ind_airspeed(const m
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/**
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* @brief Get field true_airspeed from hil_state_quaternion message
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*
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* @return [cm/s] True airspeed, expressed as cm/s
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* @return [cm/s] True airspeed
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*/
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static inline uint16_t mavlink_msg_hil_state_quaternion_get_true_airspeed(const mavlink_message_t* msg)
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{
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@@ -520,7 +520,7 @@ static inline uint16_t mavlink_msg_hil_state_quaternion_get_true_airspeed(const
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/**
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* @brief Get field xacc from hil_state_quaternion message
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*
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* @return [mG] X acceleration (mg)
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* @return [mG] X acceleration
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*/
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static inline int16_t mavlink_msg_hil_state_quaternion_get_xacc(const mavlink_message_t* msg)
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{
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@@ -530,7 +530,7 @@ static inline int16_t mavlink_msg_hil_state_quaternion_get_xacc(const mavlink_me
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/**
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* @brief Get field yacc from hil_state_quaternion message
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*
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* @return [mG] Y acceleration (mg)
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* @return [mG] Y acceleration
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*/
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static inline int16_t mavlink_msg_hil_state_quaternion_get_yacc(const mavlink_message_t* msg)
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{
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@@ -540,7 +540,7 @@ static inline int16_t mavlink_msg_hil_state_quaternion_get_yacc(const mavlink_me
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/**
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* @brief Get field zacc from hil_state_quaternion message
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*
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* @return [mG] Z acceleration (mg)
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* @return [mG] Z acceleration
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*/
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static inline int16_t mavlink_msg_hil_state_quaternion_get_zacc(const mavlink_message_t* msg)
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{
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