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c_library_v2/ardupilotmega/mavlink_msg_ins2.h
T
Matt 6a1a7939a4 update xml, and pymavlink
2018-06-03 17:07:10 +08:00

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#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
}
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