#pragma once // MESSAGE INS2 PACKING #define MAVLINK_MSG_ID_INS2 20104 MAVPACKED( typedef struct __mavlink_ins2_t { double lon; /*< lon(deg)*/ double lat; /*< lat(deg)*/ double time; /*< time(s)*/ uint32_t time_boot_ms; /*< [ms] Timestamp (milliseconds since system boot)*/ float pitch; /*< pitch(deg)*/ float roll; /*< roll(deg)*/ float yaw; /*< yaw(deg)*/ float alt; /*< alt(m)*/ float v_north; /*< v_north(m/s)*/ float v_up; /*< v_up(m/s)*/ float v_east; /*< v_east(m/s)*/ float gx; /*< gx(deg/s)*/ float gy; /*< gy(deg/s)*/ float gz; /*< gz(deg/s)*/ float ax; /*< ax(deg/s)*/ float ay; /*< ay(deg/s)*/ float az; /*< az(deg/s)*/ uint8_t sys_status; /*< sys_status*/ uint8_t com_status; /*< com_status*/ uint8_t gps_status; /*< gps_status*/ uint8_t BIT; /*< BIT*/ uint8_t seq; /*< sequeue index*/ }) mavlink_ins2_t; #define MAVLINK_MSG_ID_INS2_LEN 85 #define MAVLINK_MSG_ID_INS2_MIN_LEN 85 #define MAVLINK_MSG_ID_20104_LEN 85 #define MAVLINK_MSG_ID_20104_MIN_LEN 85 #define MAVLINK_MSG_ID_INS2_CRC 212 #define MAVLINK_MSG_ID_20104_CRC 212 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_INS2 { \ 20104, \ "INS2", \ 22, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_ins2_t, time_boot_ms) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ins2_t, pitch) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ins2_t, roll) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_ins2_t, yaw) }, \ { "lon", NULL, MAVLINK_TYPE_DOUBLE, 0, 0, offsetof(mavlink_ins2_t, lon) }, \ { "lat", NULL, MAVLINK_TYPE_DOUBLE, 0, 8, offsetof(mavlink_ins2_t, lat) }, \ { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_ins2_t, alt) }, \ { "v_north", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_ins2_t, v_north) }, \ { "v_up", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_ins2_t, v_up) }, \ { "v_east", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_ins2_t, v_east) }, \ { "gx", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_ins2_t, gx) }, \ { "gy", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_ins2_t, gy) }, \ { "gz", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_ins2_t, gz) }, \ { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_ins2_t, ax) }, \ { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_ins2_t, ay) }, \ { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_ins2_t, az) }, \ { "time", NULL, MAVLINK_TYPE_DOUBLE, 0, 16, offsetof(mavlink_ins2_t, time) }, \ { "sys_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_ins2_t, sys_status) }, \ { "com_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 81, offsetof(mavlink_ins2_t, com_status) }, \ { "gps_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 82, offsetof(mavlink_ins2_t, gps_status) }, \ { "BIT", NULL, MAVLINK_TYPE_UINT8_T, 0, 83, offsetof(mavlink_ins2_t, BIT) }, \ { "seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 84, offsetof(mavlink_ins2_t, seq) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_INS2 { \ "INS2", \ 22, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_ins2_t, time_boot_ms) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ins2_t, pitch) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ins2_t, roll) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_ins2_t, yaw) }, \ { "lon", NULL, MAVLINK_TYPE_DOUBLE, 0, 0, offsetof(mavlink_ins2_t, lon) }, \ { "lat", NULL, MAVLINK_TYPE_DOUBLE, 0, 8, offsetof(mavlink_ins2_t, lat) }, \ { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_ins2_t, alt) }, \ { "v_north", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_ins2_t, v_north) }, \ { "v_up", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_ins2_t, v_up) }, \ { "v_east", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_ins2_t, v_east) }, \ { "gx", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_ins2_t, gx) }, \ { "gy", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_ins2_t, gy) }, \ { "gz", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_ins2_t, gz) }, \ { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_ins2_t, ax) }, \ { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_ins2_t, ay) }, \ { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_ins2_t, az) }, \ { "time", NULL, MAVLINK_TYPE_DOUBLE, 0, 16, offsetof(mavlink_ins2_t, time) }, \ { "sys_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 80, offsetof(mavlink_ins2_t, sys_status) }, \ { "com_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 81, offsetof(mavlink_ins2_t, com_status) }, \ { "gps_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 82, offsetof(mavlink_ins2_t, gps_status) }, \ { "BIT", NULL, MAVLINK_TYPE_UINT8_T, 0, 83, offsetof(mavlink_ins2_t, BIT) }, \ { "seq", NULL, MAVLINK_TYPE_UINT8_T, 0, 84, offsetof(mavlink_ins2_t, seq) }, \ } \ } #endif /** * @brief Pack a ins2 message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param time_boot_ms [ms] Timestamp (milliseconds since system boot) * @param pitch pitch(deg) * @param roll roll(deg) * @param yaw yaw(deg) * @param lon lon(deg) * @param lat lat(deg) * @param alt alt(m) * @param v_north v_north(m/s) * @param v_up v_up(m/s) * @param v_east v_east(m/s) * @param gx gx(deg/s) * @param gy gy(deg/s) * @param gz gz(deg/s) * @param ax ax(deg/s) * @param ay ay(deg/s) * @param az az(deg/s) * @param time time(s) * @param sys_status sys_status * @param com_status com_status * @param gps_status gps_status * @param BIT BIT * @param seq sequeue index * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_ins2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_INS2_LEN]; _mav_put_double(buf, 0, lon); _mav_put_double(buf, 8, lat); _mav_put_double(buf, 16, time); _mav_put_uint32_t(buf, 24, time_boot_ms); _mav_put_float(buf, 28, pitch); _mav_put_float(buf, 32, roll); _mav_put_float(buf, 36, yaw); _mav_put_float(buf, 40, alt); _mav_put_float(buf, 44, v_north); _mav_put_float(buf, 48, v_up); _mav_put_float(buf, 52, v_east); _mav_put_float(buf, 56, gx); _mav_put_float(buf, 60, gy); _mav_put_float(buf, 64, gz); _mav_put_float(buf, 68, ax); _mav_put_float(buf, 72, ay); _mav_put_float(buf, 76, az); _mav_put_uint8_t(buf, 80, sys_status); _mav_put_uint8_t(buf, 81, com_status); _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_INS2_LEN); #else mavlink_ins2_t packet; packet.lon = lon; packet.lat = lat; packet.time = time; packet.time_boot_ms = time_boot_ms; packet.pitch = pitch; packet.roll = roll; packet.yaw = yaw; packet.alt = alt; packet.v_north = v_north; packet.v_up = v_up; packet.v_east = v_east; packet.gx = gx; packet.gy = gy; packet.gz = gz; packet.ax = ax; packet.ay = ay; packet.az = az; packet.sys_status = sys_status; packet.com_status = com_status; packet.gps_status = gps_status; packet.BIT = BIT; packet.seq = seq; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_INS2_LEN); #endif msg->msgid = MAVLINK_MSG_ID_INS2; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); } /** * @brief Pack a ins2 message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param time_boot_ms [ms] Timestamp (milliseconds since system boot) * @param pitch pitch(deg) * @param roll roll(deg) * @param yaw yaw(deg) * @param lon lon(deg) * @param lat lat(deg) * @param alt alt(m) * @param v_north v_north(m/s) * @param v_up v_up(m/s) * @param v_east v_east(m/s) * @param gx gx(deg/s) * @param gy gy(deg/s) * @param gz gz(deg/s) * @param ax ax(deg/s) * @param ay ay(deg/s) * @param az az(deg/s) * @param time time(s) * @param sys_status sys_status * @param com_status com_status * @param gps_status gps_status * @param BIT BIT * @param seq sequeue index * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_ins2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_boot_ms,float pitch,float roll,float yaw,double lon,double lat,float alt,float v_north,float v_up,float v_east,float gx,float gy,float gz,float ax,float ay,float az,double time,uint8_t sys_status,uint8_t com_status,uint8_t gps_status,uint8_t BIT,uint8_t seq) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_INS2_LEN]; _mav_put_double(buf, 0, lon); _mav_put_double(buf, 8, lat); _mav_put_double(buf, 16, time); _mav_put_uint32_t(buf, 24, time_boot_ms); _mav_put_float(buf, 28, pitch); _mav_put_float(buf, 32, roll); _mav_put_float(buf, 36, yaw); _mav_put_float(buf, 40, alt); _mav_put_float(buf, 44, v_north); _mav_put_float(buf, 48, v_up); _mav_put_float(buf, 52, v_east); _mav_put_float(buf, 56, gx); _mav_put_float(buf, 60, gy); _mav_put_float(buf, 64, gz); _mav_put_float(buf, 68, ax); _mav_put_float(buf, 72, ay); _mav_put_float(buf, 76, az); _mav_put_uint8_t(buf, 80, sys_status); _mav_put_uint8_t(buf, 81, com_status); _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_INS2_LEN); #else mavlink_ins2_t packet; packet.lon = lon; packet.lat = lat; packet.time = time; packet.time_boot_ms = time_boot_ms; packet.pitch = pitch; packet.roll = roll; packet.yaw = yaw; packet.alt = alt; packet.v_north = v_north; packet.v_up = v_up; packet.v_east = v_east; packet.gx = gx; packet.gy = gy; packet.gz = gz; packet.ax = ax; packet.ay = ay; packet.az = az; packet.sys_status = sys_status; packet.com_status = com_status; packet.gps_status = gps_status; packet.BIT = BIT; packet.seq = seq; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_INS2_LEN); #endif msg->msgid = MAVLINK_MSG_ID_INS2; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); } /** * @brief Encode a ins2 struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param ins2 C-struct to read the message contents from */ static inline uint16_t mavlink_msg_ins2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ins2_t* ins2) { return mavlink_msg_ins2_pack(system_id, component_id, msg, ins2->time_boot_ms, ins2->pitch, ins2->roll, ins2->yaw, ins2->lon, ins2->lat, ins2->alt, ins2->v_north, ins2->v_up, ins2->v_east, ins2->gx, ins2->gy, ins2->gz, ins2->ax, ins2->ay, ins2->az, ins2->time, ins2->sys_status, ins2->com_status, ins2->gps_status, ins2->BIT, ins2->seq); } /** * @brief Encode a ins2 struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param ins2 C-struct to read the message contents from */ static inline uint16_t mavlink_msg_ins2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ins2_t* ins2) { return mavlink_msg_ins2_pack_chan(system_id, component_id, chan, msg, ins2->time_boot_ms, ins2->pitch, ins2->roll, ins2->yaw, ins2->lon, ins2->lat, ins2->alt, ins2->v_north, ins2->v_up, ins2->v_east, ins2->gx, ins2->gy, ins2->gz, ins2->ax, ins2->ay, ins2->az, ins2->time, ins2->sys_status, ins2->com_status, ins2->gps_status, ins2->BIT, ins2->seq); } /** * @brief Send a ins2 message * @param chan MAVLink channel to send the message * * @param time_boot_ms [ms] Timestamp (milliseconds since system boot) * @param pitch pitch(deg) * @param roll roll(deg) * @param yaw yaw(deg) * @param lon lon(deg) * @param lat lat(deg) * @param alt alt(m) * @param v_north v_north(m/s) * @param v_up v_up(m/s) * @param v_east v_east(m/s) * @param gx gx(deg/s) * @param gy gy(deg/s) * @param gz gz(deg/s) * @param ax ax(deg/s) * @param ay ay(deg/s) * @param az az(deg/s) * @param time time(s) * @param sys_status sys_status * @param com_status com_status * @param gps_status gps_status * @param BIT BIT * @param seq sequeue index */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_ins2_send(mavlink_channel_t chan, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_INS2_LEN]; _mav_put_double(buf, 0, lon); _mav_put_double(buf, 8, lat); _mav_put_double(buf, 16, time); _mav_put_uint32_t(buf, 24, time_boot_ms); _mav_put_float(buf, 28, pitch); _mav_put_float(buf, 32, roll); _mav_put_float(buf, 36, yaw); _mav_put_float(buf, 40, alt); _mav_put_float(buf, 44, v_north); _mav_put_float(buf, 48, v_up); _mav_put_float(buf, 52, v_east); _mav_put_float(buf, 56, gx); _mav_put_float(buf, 60, gy); _mav_put_float(buf, 64, gz); _mav_put_float(buf, 68, ax); _mav_put_float(buf, 72, ay); _mav_put_float(buf, 76, az); _mav_put_uint8_t(buf, 80, sys_status); _mav_put_uint8_t(buf, 81, com_status); _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS2, buf, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); #else mavlink_ins2_t packet; packet.lon = lon; packet.lat = lat; packet.time = time; packet.time_boot_ms = time_boot_ms; packet.pitch = pitch; packet.roll = roll; packet.yaw = yaw; packet.alt = alt; packet.v_north = v_north; packet.v_up = v_up; packet.v_east = v_east; packet.gx = gx; packet.gy = gy; packet.gz = gz; packet.ax = ax; packet.ay = ay; packet.az = az; packet.sys_status = sys_status; packet.com_status = com_status; packet.gps_status = gps_status; packet.BIT = BIT; packet.seq = seq; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS2, (const char *)&packet, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); #endif } /** * @brief Send a ins2 message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_ins2_send_struct(mavlink_channel_t chan, const mavlink_ins2_t* ins2) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_ins2_send(chan, ins2->time_boot_ms, ins2->pitch, ins2->roll, ins2->yaw, ins2->lon, ins2->lat, ins2->alt, ins2->v_north, ins2->v_up, ins2->v_east, ins2->gx, ins2->gy, ins2->gz, ins2->ax, ins2->ay, ins2->az, ins2->time, ins2->sys_status, ins2->com_status, ins2->gps_status, ins2->BIT, ins2->seq); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS2, (const char *)ins2, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); #endif } #if MAVLINK_MSG_ID_INS2_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This 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_ins2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float pitch, float roll, float yaw, double lon, double lat, float alt, float v_north, float v_up, float v_east, float gx, float gy, float gz, float ax, float ay, float az, double time, uint8_t sys_status, uint8_t com_status, uint8_t gps_status, uint8_t BIT, uint8_t seq) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_double(buf, 0, lon); _mav_put_double(buf, 8, lat); _mav_put_double(buf, 16, time); _mav_put_uint32_t(buf, 24, time_boot_ms); _mav_put_float(buf, 28, pitch); _mav_put_float(buf, 32, roll); _mav_put_float(buf, 36, yaw); _mav_put_float(buf, 40, alt); _mav_put_float(buf, 44, v_north); _mav_put_float(buf, 48, v_up); _mav_put_float(buf, 52, v_east); _mav_put_float(buf, 56, gx); _mav_put_float(buf, 60, gy); _mav_put_float(buf, 64, gz); _mav_put_float(buf, 68, ax); _mav_put_float(buf, 72, ay); _mav_put_float(buf, 76, az); _mav_put_uint8_t(buf, 80, sys_status); _mav_put_uint8_t(buf, 81, com_status); _mav_put_uint8_t(buf, 82, gps_status); _mav_put_uint8_t(buf, 83, BIT); _mav_put_uint8_t(buf, 84, seq); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS2, buf, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); #else mavlink_ins2_t *packet = (mavlink_ins2_t *)msgbuf; packet->lon = lon; packet->lat = lat; packet->time = time; packet->time_boot_ms = time_boot_ms; packet->pitch = pitch; packet->roll = roll; packet->yaw = yaw; packet->alt = alt; packet->v_north = v_north; packet->v_up = v_up; packet->v_east = v_east; packet->gx = gx; packet->gy = gy; packet->gz = gz; packet->ax = ax; packet->ay = ay; packet->az = az; packet->sys_status = sys_status; packet->com_status = com_status; packet->gps_status = gps_status; packet->BIT = BIT; packet->seq = seq; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_INS2, (const char *)packet, MAVLINK_MSG_ID_INS2_MIN_LEN, MAVLINK_MSG_ID_INS2_LEN, MAVLINK_MSG_ID_INS2_CRC); #endif } #endif #endif // MESSAGE INS2 UNPACKING /** * @brief Get field time_boot_ms from ins2 message * * @return [ms] Timestamp (milliseconds since system boot) */ static inline uint32_t mavlink_msg_ins2_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 24); } /** * @brief Get field pitch from ins2 message * * @return pitch(deg) */ static inline float mavlink_msg_ins2_get_pitch(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field roll from ins2 message * * @return roll(deg) */ static inline float mavlink_msg_ins2_get_roll(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Get field yaw from ins2 message * * @return yaw(deg) */ static inline float mavlink_msg_ins2_get_yaw(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 36); } /** * @brief Get field lon from ins2 message * * @return lon(deg) */ static inline double mavlink_msg_ins2_get_lon(const mavlink_message_t* msg) { return _MAV_RETURN_double(msg, 0); } /** * @brief Get field lat from ins2 message * * @return lat(deg) */ static inline double mavlink_msg_ins2_get_lat(const mavlink_message_t* msg) { return _MAV_RETURN_double(msg, 8); } /** * @brief Get field alt from ins2 message * * @return alt(m) */ static inline float mavlink_msg_ins2_get_alt(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 40); } /** * @brief Get field v_north from ins2 message * * @return v_north(m/s) */ static inline float mavlink_msg_ins2_get_v_north(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 44); } /** * @brief Get field v_up from ins2 message * * @return v_up(m/s) */ static inline float mavlink_msg_ins2_get_v_up(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 48); } /** * @brief Get field v_east from ins2 message * * @return v_east(m/s) */ static inline float mavlink_msg_ins2_get_v_east(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 52); } /** * @brief Get field gx from ins2 message * * @return gx(deg/s) */ static inline float mavlink_msg_ins2_get_gx(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 56); } /** * @brief Get field gy from ins2 message * * @return gy(deg/s) */ static inline float mavlink_msg_ins2_get_gy(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 60); } /** * @brief Get field gz from ins2 message * * @return gz(deg/s) */ static inline float mavlink_msg_ins2_get_gz(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 64); } /** * @brief Get field ax from ins2 message * * @return ax(deg/s) */ static inline float mavlink_msg_ins2_get_ax(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 68); } /** * @brief Get field ay from ins2 message * * @return ay(deg/s) */ static inline float mavlink_msg_ins2_get_ay(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 72); } /** * @brief Get field az from ins2 message * * @return az(deg/s) */ static inline float mavlink_msg_ins2_get_az(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 76); } /** * @brief Get field time from ins2 message * * @return time(s) */ static inline double mavlink_msg_ins2_get_time(const mavlink_message_t* msg) { return _MAV_RETURN_double(msg, 16); } /** * @brief Get field sys_status from ins2 message * * @return sys_status */ static inline uint8_t mavlink_msg_ins2_get_sys_status(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 80); } /** * @brief Get field com_status from ins2 message * * @return com_status */ static inline uint8_t mavlink_msg_ins2_get_com_status(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 81); } /** * @brief Get field gps_status from ins2 message * * @return gps_status */ static inline uint8_t mavlink_msg_ins2_get_gps_status(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 82); } /** * @brief Get field BIT from ins2 message * * @return BIT */ static inline uint8_t mavlink_msg_ins2_get_BIT(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 83); } /** * @brief Get field seq from ins2 message * * @return sequeue index */ static inline uint8_t mavlink_msg_ins2_get_seq(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 84); } /** * @brief Decode a ins2 message into a struct * * @param msg The message to decode * @param ins2 C-struct to decode the message contents into */ static inline void mavlink_msg_ins2_decode(const mavlink_message_t* msg, mavlink_ins2_t* ins2) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS ins2->lon = mavlink_msg_ins2_get_lon(msg); ins2->lat = mavlink_msg_ins2_get_lat(msg); ins2->time = mavlink_msg_ins2_get_time(msg); ins2->time_boot_ms = mavlink_msg_ins2_get_time_boot_ms(msg); ins2->pitch = mavlink_msg_ins2_get_pitch(msg); ins2->roll = mavlink_msg_ins2_get_roll(msg); ins2->yaw = mavlink_msg_ins2_get_yaw(msg); ins2->alt = mavlink_msg_ins2_get_alt(msg); ins2->v_north = mavlink_msg_ins2_get_v_north(msg); ins2->v_up = mavlink_msg_ins2_get_v_up(msg); ins2->v_east = mavlink_msg_ins2_get_v_east(msg); ins2->gx = mavlink_msg_ins2_get_gx(msg); ins2->gy = mavlink_msg_ins2_get_gy(msg); ins2->gz = mavlink_msg_ins2_get_gz(msg); ins2->ax = mavlink_msg_ins2_get_ax(msg); ins2->ay = mavlink_msg_ins2_get_ay(msg); ins2->az = mavlink_msg_ins2_get_az(msg); ins2->sys_status = mavlink_msg_ins2_get_sys_status(msg); ins2->com_status = mavlink_msg_ins2_get_com_status(msg); ins2->gps_status = mavlink_msg_ins2_get_gps_status(msg); ins2->BIT = mavlink_msg_ins2_get_BIT(msg); ins2->seq = mavlink_msg_ins2_get_seq(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_INS2_LEN? msg->len : MAVLINK_MSG_ID_INS2_LEN; memset(ins2, 0, MAVLINK_MSG_ID_INS2_LEN); memcpy(ins2, _MAV_PAYLOAD(msg), len); #endif }