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c_library_v2/ardupilotmega/mavlink_msg_ahrs3.h
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// MESSAGE AHRS3 PACKING
#define MAVLINK_MSG_ID_AHRS3 182
typedef struct __mavlink_ahrs3_t
{
float roll; ///< Roll angle (rad)
float pitch; ///< Pitch angle (rad)
float yaw; ///< Yaw angle (rad)
float altitude; ///< Altitude (MSL)
int32_t lat; ///< Latitude in degrees * 1E7
int32_t lng; ///< Longitude in degrees * 1E7
float v1; ///< test variable1
float v2; ///< test variable2
float v3; ///< test variable3
float v4; ///< test variable4
} mavlink_ahrs3_t;
#define MAVLINK_MSG_ID_AHRS3_LEN 40
#define MAVLINK_MSG_ID_182_LEN 40
#define MAVLINK_MSG_ID_AHRS3_CRC 229
#define MAVLINK_MSG_ID_182_CRC 229
#define MAVLINK_MESSAGE_INFO_AHRS3 { \
"AHRS3", \
10, \
{ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs3_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs3_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs3_t, yaw) }, \
{ "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs3_t, altitude) }, \
{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_ahrs3_t, lat) }, \
{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_ahrs3_t, lng) }, \
{ "v1", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs3_t, v1) }, \
{ "v2", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ahrs3_t, v2) }, \
{ "v3", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_ahrs3_t, v3) }, \
{ "v4", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_ahrs3_t, v4) }, \
} \
}
/**
* @brief Pack a ahrs3 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 roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param altitude Altitude (MSL)
* @param lat Latitude in degrees * 1E7
* @param lng Longitude in degrees * 1E7
* @param v1 test variable1
* @param v2 test variable2
* @param v3 test variable3
* @param v4 test variable4
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ahrs3_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng, float v1, float v2, float v3, float v4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AHRS3_LEN];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, altitude);
_mav_put_int32_t(buf, 16, lat);
_mav_put_int32_t(buf, 20, lng);
_mav_put_float(buf, 24, v1);
_mav_put_float(buf, 28, v2);
_mav_put_float(buf, 32, v3);
_mav_put_float(buf, 36, v4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS3_LEN);
#else
mavlink_ahrs3_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.altitude = altitude;
packet.lat = lat;
packet.lng = lng;
packet.v1 = v1;
packet.v2 = v2;
packet.v3 = v3;
packet.v4 = v4;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS3_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AHRS3;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC);
#else
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS3_LEN);
#endif
}
/**
* @brief Pack a ahrs3 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 roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param altitude Altitude (MSL)
* @param lat Latitude in degrees * 1E7
* @param lng Longitude in degrees * 1E7
* @param v1 test variable1
* @param v2 test variable2
* @param v3 test variable3
* @param v4 test variable4
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ahrs3_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float roll,float pitch,float yaw,float altitude,int32_t lat,int32_t lng,float v1,float v2,float v3,float v4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AHRS3_LEN];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, altitude);
_mav_put_int32_t(buf, 16, lat);
_mav_put_int32_t(buf, 20, lng);
_mav_put_float(buf, 24, v1);
_mav_put_float(buf, 28, v2);
_mav_put_float(buf, 32, v3);
_mav_put_float(buf, 36, v4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS3_LEN);
#else
mavlink_ahrs3_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.altitude = altitude;
packet.lat = lat;
packet.lng = lng;
packet.v1 = v1;
packet.v2 = v2;
packet.v3 = v3;
packet.v4 = v4;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS3_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AHRS3;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC);
#else
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS3_LEN);
#endif
}
/**
* @brief Encode a ahrs3 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 ahrs3 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ahrs3_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs3_t* ahrs3)
{
return mavlink_msg_ahrs3_pack(system_id, component_id, msg, ahrs3->roll, ahrs3->pitch, ahrs3->yaw, ahrs3->altitude, ahrs3->lat, ahrs3->lng, ahrs3->v1, ahrs3->v2, ahrs3->v3, ahrs3->v4);
}
/**
* @brief Encode a ahrs3 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 ahrs3 C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ahrs3_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs3_t* ahrs3)
{
return mavlink_msg_ahrs3_pack_chan(system_id, component_id, chan, msg, ahrs3->roll, ahrs3->pitch, ahrs3->yaw, ahrs3->altitude, ahrs3->lat, ahrs3->lng, ahrs3->v1, ahrs3->v2, ahrs3->v3, ahrs3->v4);
}
/**
* @brief Send a ahrs3 message
* @param chan MAVLink channel to send the message
*
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param altitude Altitude (MSL)
* @param lat Latitude in degrees * 1E7
* @param lng Longitude in degrees * 1E7
* @param v1 test variable1
* @param v2 test variable2
* @param v3 test variable3
* @param v4 test variable4
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_ahrs3_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng, float v1, float v2, float v3, float v4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AHRS3_LEN];
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, altitude);
_mav_put_int32_t(buf, 16, lat);
_mav_put_int32_t(buf, 20, lng);
_mav_put_float(buf, 24, v1);
_mav_put_float(buf, 28, v2);
_mav_put_float(buf, 32, v3);
_mav_put_float(buf, 36, v4);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, buf, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, buf, MAVLINK_MSG_ID_AHRS3_LEN);
#endif
#else
mavlink_ahrs3_t packet;
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.altitude = altitude;
packet.lat = lat;
packet.lng = lng;
packet.v1 = v1;
packet.v2 = v2;
packet.v3 = v3;
packet.v4 = v4;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, (const char *)&packet, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, (const char *)&packet, MAVLINK_MSG_ID_AHRS3_LEN);
#endif
#endif
}
#if MAVLINK_MSG_ID_AHRS3_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_ahrs3_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng, float v1, float v2, float v3, float v4)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, roll);
_mav_put_float(buf, 4, pitch);
_mav_put_float(buf, 8, yaw);
_mav_put_float(buf, 12, altitude);
_mav_put_int32_t(buf, 16, lat);
_mav_put_int32_t(buf, 20, lng);
_mav_put_float(buf, 24, v1);
_mav_put_float(buf, 28, v2);
_mav_put_float(buf, 32, v3);
_mav_put_float(buf, 36, v4);
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, buf, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, buf, MAVLINK_MSG_ID_AHRS3_LEN);
#endif
#else
mavlink_ahrs3_t *packet = (mavlink_ahrs3_t *)msgbuf;
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
packet->altitude = altitude;
packet->lat = lat;
packet->lng = lng;
packet->v1 = v1;
packet->v2 = v2;
packet->v3 = v3;
packet->v4 = v4;
#if MAVLINK_CRC_EXTRA
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, (const char *)packet, MAVLINK_MSG_ID_AHRS3_LEN, MAVLINK_MSG_ID_AHRS3_CRC);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS3, (const char *)packet, MAVLINK_MSG_ID_AHRS3_LEN);
#endif
#endif
}
#endif
#endif
// MESSAGE AHRS3 UNPACKING
/**
* @brief Get field roll from ahrs3 message
*
* @return Roll angle (rad)
*/
static inline float mavlink_msg_ahrs3_get_roll(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field pitch from ahrs3 message
*
* @return Pitch angle (rad)
*/
static inline float mavlink_msg_ahrs3_get_pitch(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field yaw from ahrs3 message
*
* @return Yaw angle (rad)
*/
static inline float mavlink_msg_ahrs3_get_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field altitude from ahrs3 message
*
* @return Altitude (MSL)
*/
static inline float mavlink_msg_ahrs3_get_altitude(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field lat from ahrs3 message
*
* @return Latitude in degrees * 1E7
*/
static inline int32_t mavlink_msg_ahrs3_get_lat(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 16);
}
/**
* @brief Get field lng from ahrs3 message
*
* @return Longitude in degrees * 1E7
*/
static inline int32_t mavlink_msg_ahrs3_get_lng(const mavlink_message_t* msg)
{
return _MAV_RETURN_int32_t(msg, 20);
}
/**
* @brief Get field v1 from ahrs3 message
*
* @return test variable1
*/
static inline float mavlink_msg_ahrs3_get_v1(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Get field v2 from ahrs3 message
*
* @return test variable2
*/
static inline float mavlink_msg_ahrs3_get_v2(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field v3 from ahrs3 message
*
* @return test variable3
*/
static inline float mavlink_msg_ahrs3_get_v3(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field v4 from ahrs3 message
*
* @return test variable4
*/
static inline float mavlink_msg_ahrs3_get_v4(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 36);
}
/**
* @brief Decode a ahrs3 message into a struct
*
* @param msg The message to decode
* @param ahrs3 C-struct to decode the message contents into
*/
static inline void mavlink_msg_ahrs3_decode(const mavlink_message_t* msg, mavlink_ahrs3_t* ahrs3)
{
#if MAVLINK_NEED_BYTE_SWAP
ahrs3->roll = mavlink_msg_ahrs3_get_roll(msg);
ahrs3->pitch = mavlink_msg_ahrs3_get_pitch(msg);
ahrs3->yaw = mavlink_msg_ahrs3_get_yaw(msg);
ahrs3->altitude = mavlink_msg_ahrs3_get_altitude(msg);
ahrs3->lat = mavlink_msg_ahrs3_get_lat(msg);
ahrs3->lng = mavlink_msg_ahrs3_get_lng(msg);
ahrs3->v1 = mavlink_msg_ahrs3_get_v1(msg);
ahrs3->v2 = mavlink_msg_ahrs3_get_v2(msg);
ahrs3->v3 = mavlink_msg_ahrs3_get_v3(msg);
ahrs3->v4 = mavlink_msg_ahrs3_get_v4(msg);
#else
memcpy(ahrs3, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AHRS3_LEN);
#endif
}
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