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✨feat: update definitions

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matt
2020-09-20 13:56:18 +08:00
parent 36a71efa12
commit b2baf4bffc
146 changed files with 28320 additions and 3729 deletions
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common/mavlink_msg_attitude_quaternion.h
+37 -20
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@@ -13,23 +13,24 @@ typedef struct __mavlink_attitude_quaternion_t {
float rollspeed; /*< [rad/s] Roll angular speed*/
float pitchspeed; /*< [rad/s] Pitch angular speed*/
float yawspeed; /*< [rad/s] Yaw angular speed*/
float repr_offset_q[4]; /*< Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.*/
} mavlink_attitude_quaternion_t;
#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 48
#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN 32
#define MAVLINK_MSG_ID_31_LEN 32
#define MAVLINK_MSG_ID_31_LEN 48
#define MAVLINK_MSG_ID_31_MIN_LEN 32
#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC 246
#define MAVLINK_MSG_ID_31_CRC 246
#define MAVLINK_MSG_ATTITUDE_QUATERNION_FIELD_REPR_OFFSET_Q_LEN 4
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
31, \
"ATTITUDE_QUATERNION", \
8, \
9, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
{ "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
{ "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
@@ -38,12 +39,13 @@ typedef struct __mavlink_attitude_quaternion_t {
{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
{ "repr_offset_q", NULL, MAVLINK_TYPE_FLOAT, 4, 32, offsetof(mavlink_attitude_quaternion_t, repr_offset_q) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
"ATTITUDE_QUATERNION", \
8, \
9, \
{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
{ "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
{ "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
@@ -52,6 +54,7 @@ typedef struct __mavlink_attitude_quaternion_t {
{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
{ "repr_offset_q", NULL, MAVLINK_TYPE_FLOAT, 4, 32, offsetof(mavlink_attitude_quaternion_t, repr_offset_q) }, \
} \
}
#endif
@@ -70,10 +73,11 @@ typedef struct __mavlink_attitude_quaternion_t {
* @param rollspeed [rad/s] Roll angular speed
* @param pitchspeed [rad/s] Pitch angular speed
* @param yawspeed [rad/s] Yaw angular speed
* @param repr_offset_q Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed, const float *repr_offset_q)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
@@ -85,7 +89,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint16_t system_id,
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_put_float_array(buf, 32, repr_offset_q, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#else
mavlink_attitude_quaternion_t packet;
@@ -97,7 +101,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint16_t system_id,
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
mav_array_memcpy(packet.repr_offset_q, repr_offset_q, sizeof(float)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
@@ -119,11 +123,12 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint16_t system_id,
* @param rollspeed [rad/s] Roll angular speed
* @param pitchspeed [rad/s] Pitch angular speed
* @param yawspeed [rad/s] Yaw angular speed
* @param repr_offset_q Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed)
uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed,const float *repr_offset_q)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
@@ -135,7 +140,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint16_t system
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_put_float_array(buf, 32, repr_offset_q, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#else
mavlink_attitude_quaternion_t packet;
@@ -147,7 +152,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint16_t system
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
mav_array_memcpy(packet.repr_offset_q, repr_offset_q, sizeof(float)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
#endif
@@ -165,7 +170,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint16_t system
*/
static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
{
return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed, attitude_quaternion->repr_offset_q);
}
/**
@@ -179,7 +184,7 @@ static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint16_t system_id
*/
static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
{
return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed, attitude_quaternion->repr_offset_q);
}
/**
@@ -194,10 +199,11 @@ static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint16_t syst
* @param rollspeed [rad/s] Roll angular speed
* @param pitchspeed [rad/s] Pitch angular speed
* @param yawspeed [rad/s] Yaw angular speed
* @param repr_offset_q Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed, const float *repr_offset_q)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
@@ -209,7 +215,7 @@ static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan,
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_put_float_array(buf, 32, repr_offset_q, 4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#else
mavlink_attitude_quaternion_t packet;
@@ -221,7 +227,7 @@ static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan,
packet.rollspeed = rollspeed;
packet.pitchspeed = pitchspeed;
packet.yawspeed = yawspeed;
mav_array_memcpy(packet.repr_offset_q, repr_offset_q, sizeof(float)*4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#endif
}
@@ -234,7 +240,7 @@ static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan,
static inline void mavlink_msg_attitude_quaternion_send_struct(mavlink_channel_t chan, const mavlink_attitude_quaternion_t* attitude_quaternion)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_attitude_quaternion_send(chan, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
mavlink_msg_attitude_quaternion_send(chan, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed, attitude_quaternion->repr_offset_q);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)attitude_quaternion, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#endif
@@ -248,7 +254,7 @@ static inline void mavlink_msg_attitude_quaternion_send_struct(mavlink_channel_t
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed, const float *repr_offset_q)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
@@ -260,7 +266,7 @@ static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *m
_mav_put_float(buf, 20, rollspeed);
_mav_put_float(buf, 24, pitchspeed);
_mav_put_float(buf, 28, yawspeed);
_mav_put_float_array(buf, 32, repr_offset_q, 4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#else
mavlink_attitude_quaternion_t *packet = (mavlink_attitude_quaternion_t *)msgbuf;
@@ -272,7 +278,7 @@ static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *m
packet->rollspeed = rollspeed;
packet->pitchspeed = pitchspeed;
packet->yawspeed = yawspeed;
mav_array_memcpy(packet->repr_offset_q, repr_offset_q, sizeof(float)*4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
#endif
}
@@ -363,6 +369,16 @@ static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_m
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field repr_offset_q from attitude_quaternion message
*
* @return Rotation offset by which the attitude quaternion and angular speed vector should be rotated for user display (quaternion with [w, x, y, z] order, zero-rotation is [1, 0, 0, 0], send [0, 0, 0, 0] if field not supported). This field is intended for systems in which the reference attitude may change during flight. For example, tailsitters VTOLs rotate their reference attitude by 90 degrees between hover mode and fixed wing mode, thus repr_offset_q is equal to [1, 0, 0, 0] in hover mode and equal to [0.7071, 0, 0.7071, 0] in fixed wing mode.
*/
static inline uint16_t mavlink_msg_attitude_quaternion_get_repr_offset_q(const mavlink_message_t* msg, float *repr_offset_q)
{
return _MAV_RETURN_float_array(msg, repr_offset_q, 4, 32);
}
/**
* @brief Decode a attitude_quaternion message into a struct
*
@@ -380,6 +396,7 @@ static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_
attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
mavlink_msg_attitude_quaternion_get_repr_offset_q(msg, attitude_quaternion->repr_offset_q);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN;
memset(attitude_quaternion, 0, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);