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✨feat: 更好兼容matlab

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uin64->uint32
payload64->payload
This commit is contained in:
matt
2020-09-20 10:12:24 +08:00
parent 1465895353
commit e79d1f21fb
289 changed files with 6428 additions and 15915 deletions
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common/mavlink_msg_raw_imu.h
+88 -88
View File
@@ -3,9 +3,9 @@
#define MAVLINK_MSG_ID_RAW_IMU 27
MAVPACKED(
typedef struct __mavlink_raw_imu_t {
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.*/
uint32_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.*/
int16_t xacc; /*< X acceleration (raw)*/
int16_t yacc; /*< Y acceleration (raw)*/
int16_t zacc; /*< Z acceleration (raw)*/
@@ -15,15 +15,15 @@ typedef struct __mavlink_raw_imu_t {
int16_t xmag; /*< X Magnetic field (raw)*/
int16_t ymag; /*< Y Magnetic field (raw)*/
int16_t zmag; /*< Z Magnetic field (raw)*/
}) mavlink_raw_imu_t;
} mavlink_raw_imu_t;
#define MAVLINK_MSG_ID_RAW_IMU_LEN 26
#define MAVLINK_MSG_ID_RAW_IMU_MIN_LEN 26
#define MAVLINK_MSG_ID_27_LEN 26
#define MAVLINK_MSG_ID_27_MIN_LEN 26
#define MAVLINK_MSG_ID_RAW_IMU_LEN 22
#define MAVLINK_MSG_ID_RAW_IMU_MIN_LEN 22
#define MAVLINK_MSG_ID_27_LEN 22
#define MAVLINK_MSG_ID_27_MIN_LEN 22
#define MAVLINK_MSG_ID_RAW_IMU_CRC 144
#define MAVLINK_MSG_ID_27_CRC 144
#define MAVLINK_MSG_ID_RAW_IMU_CRC 202
#define MAVLINK_MSG_ID_27_CRC 202
@@ -32,32 +32,32 @@ typedef struct __mavlink_raw_imu_t {
27, \
"RAW_IMU", \
10, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_raw_imu_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_raw_imu_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, zgyro) }, \
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, xmag) }, \
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, ymag) }, \
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, zmag) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_RAW_IMU { \
"RAW_IMU", \
10, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_raw_imu_t, xacc) }, \
{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_raw_imu_t, yacc) }, \
{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, zacc) }, \
{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, xgyro) }, \
{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, ygyro) }, \
{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, zgyro) }, \
{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, xmag) }, \
{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, ymag) }, \
{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, zmag) }, \
} \
}
#endif
@@ -80,21 +80,21 @@ typedef struct __mavlink_raw_imu_t {
* @param zmag Z Magnetic field (raw)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
static inline uint16_t mavlink_msg_raw_imu_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int16_t(buf, 8, xacc);
_mav_put_int16_t(buf, 10, yacc);
_mav_put_int16_t(buf, 12, zacc);
_mav_put_int16_t(buf, 14, xgyro);
_mav_put_int16_t(buf, 16, ygyro);
_mav_put_int16_t(buf, 18, zgyro);
_mav_put_int16_t(buf, 20, xmag);
_mav_put_int16_t(buf, 22, ymag);
_mav_put_int16_t(buf, 24, zmag);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
#else
@@ -135,22 +135,22 @@ static inline uint16_t mavlink_msg_raw_imu_pack(uint8_t system_id, uint8_t compo
* @param zmag Z Magnetic field (raw)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
uint32_t time_usec,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int16_t(buf, 8, xacc);
_mav_put_int16_t(buf, 10, yacc);
_mav_put_int16_t(buf, 12, zacc);
_mav_put_int16_t(buf, 14, xgyro);
_mav_put_int16_t(buf, 16, ygyro);
_mav_put_int16_t(buf, 18, zgyro);
_mav_put_int16_t(buf, 20, xmag);
_mav_put_int16_t(buf, 22, ymag);
_mav_put_int16_t(buf, 24, zmag);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
#else
@@ -181,7 +181,7 @@ static inline uint16_t mavlink_msg_raw_imu_pack_chan(uint8_t system_id, uint8_t
* @param msg The MAVLink message to compress the data into
* @param raw_imu C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
static inline uint16_t mavlink_msg_raw_imu_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
{
return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
}
@@ -195,7 +195,7 @@ static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t com
* @param msg The MAVLink message to compress the data into
* @param raw_imu C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_raw_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
static inline uint16_t mavlink_msg_raw_imu_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
{
return mavlink_msg_raw_imu_pack_chan(system_id, component_id, chan, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
}
@@ -217,20 +217,20 @@ static inline uint16_t mavlink_msg_raw_imu_encode_chan(uint8_t system_id, uint8_
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint32_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_RAW_IMU_LEN];
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int16_t(buf, 8, xacc);
_mav_put_int16_t(buf, 10, yacc);
_mav_put_int16_t(buf, 12, zacc);
_mav_put_int16_t(buf, 14, xgyro);
_mav_put_int16_t(buf, 16, ygyro);
_mav_put_int16_t(buf, 18, zgyro);
_mav_put_int16_t(buf, 20, xmag);
_mav_put_int16_t(buf, 22, ymag);
_mav_put_int16_t(buf, 24, zmag);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
#else
@@ -272,20 +272,20 @@ static inline void mavlink_msg_raw_imu_send_struct(mavlink_channel_t chan, const
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_raw_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
static inline void mavlink_msg_raw_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, time_usec);
_mav_put_int16_t(buf, 8, xacc);
_mav_put_int16_t(buf, 10, yacc);
_mav_put_int16_t(buf, 12, zacc);
_mav_put_int16_t(buf, 14, xgyro);
_mav_put_int16_t(buf, 16, ygyro);
_mav_put_int16_t(buf, 18, zgyro);
_mav_put_int16_t(buf, 20, xmag);
_mav_put_int16_t(buf, 22, ymag);
_mav_put_int16_t(buf, 24, zmag);
_mav_put_uint32_t(buf, 0, time_usec);
_mav_put_int16_t(buf, 4, xacc);
_mav_put_int16_t(buf, 6, yacc);
_mav_put_int16_t(buf, 8, zacc);
_mav_put_int16_t(buf, 10, xgyro);
_mav_put_int16_t(buf, 12, ygyro);
_mav_put_int16_t(buf, 14, zgyro);
_mav_put_int16_t(buf, 16, xmag);
_mav_put_int16_t(buf, 18, ymag);
_mav_put_int16_t(buf, 20, zmag);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
#else
@@ -316,9 +316,9 @@ static inline void mavlink_msg_raw_imu_send_buf(mavlink_message_t *msgbuf, mavli
*
* @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.
*/
static inline uint64_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t* msg)
static inline uint32_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
return _MAV_RETURN_uint32_t(msg, 0);
}
/**
@@ -328,7 +328,7 @@ static inline uint64_t mavlink_msg_raw_imu_get_time_usec(const mavlink_message_t
*/
static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 8);
return _MAV_RETURN_int16_t(msg, 4);
}
/**
@@ -338,7 +338,7 @@ static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 10);
return _MAV_RETURN_int16_t(msg, 6);
}
/**
@@ -348,7 +348,7 @@ static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 12);
return _MAV_RETURN_int16_t(msg, 8);
}
/**
@@ -358,7 +358,7 @@ static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 14);
return _MAV_RETURN_int16_t(msg, 10);
}
/**
@@ -368,7 +368,7 @@ static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg
*/
static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 16);
return _MAV_RETURN_int16_t(msg, 12);
}
/**
@@ -378,7 +378,7 @@ static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg
*/
static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 18);
return _MAV_RETURN_int16_t(msg, 14);
}
/**
@@ -388,7 +388,7 @@ static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg
*/
static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 20);
return _MAV_RETURN_int16_t(msg, 16);
}
/**
@@ -398,7 +398,7 @@ static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 22);
return _MAV_RETURN_int16_t(msg, 18);
}
/**
@@ -408,7 +408,7 @@ static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
*/
static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
{
return _MAV_RETURN_int16_t(msg, 24);
return _MAV_RETURN_int16_t(msg, 20);
}
/**