406 lines
22 KiB
C
406 lines
22 KiB
C
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#pragma once
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// MESSAGE GIMBAL_DEVICE_ATTITUDE_STATUS PACKING
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS 285
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typedef struct __mavlink_gimbal_device_attitude_status_t {
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uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
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float q[4]; /*< Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set)*/
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float angular_velocity_x; /*< [rad/s] X component of angular velocity (NaN if unknown)*/
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float angular_velocity_y; /*< [rad/s] Y component of angular velocity (NaN if unknown)*/
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float angular_velocity_z; /*< [rad/s] Z component of angular velocity (NaN if unknown)*/
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uint32_t failure_flags; /*< Failure flags (0 for no failure)*/
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uint16_t target_system; /*< System ID*/
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uint16_t flags; /*< Current gimbal flags set.*/
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uint8_t target_component; /*< Component ID*/
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} mavlink_gimbal_device_attitude_status_t;
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN 41
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_MIN_LEN 41
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#define MAVLINK_MSG_ID_285_LEN 41
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#define MAVLINK_MSG_ID_285_MIN_LEN 41
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#define MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_CRC 28
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#define MAVLINK_MSG_ID_285_CRC 28
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#define MAVLINK_MSG_GIMBAL_DEVICE_ATTITUDE_STATUS_FIELD_Q_LEN 4
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_GIMBAL_DEVICE_ATTITUDE_STATUS { \
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285, \
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"GIMBAL_DEVICE_ATTITUDE_STATUS", \
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9, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT16_T, 0, 36, offsetof(mavlink_gimbal_device_attitude_status_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_gimbal_device_attitude_status_t, target_component) }, \
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{ "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gimbal_device_attitude_status_t, time_boot_ms) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 38, offsetof(mavlink_gimbal_device_attitude_status_t, flags) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_gimbal_device_attitude_status_t, q) }, \
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{ "angular_velocity_x", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_device_attitude_status_t, angular_velocity_x) }, \
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{ "angular_velocity_y", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gimbal_device_attitude_status_t, angular_velocity_y) }, \
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{ "angular_velocity_z", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gimbal_device_attitude_status_t, angular_velocity_z) }, \
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{ "failure_flags", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_gimbal_device_attitude_status_t, failure_flags) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_GIMBAL_DEVICE_ATTITUDE_STATUS { \
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"GIMBAL_DEVICE_ATTITUDE_STATUS", \
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9, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT16_T, 0, 36, offsetof(mavlink_gimbal_device_attitude_status_t, target_system) }, \
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{ "target_component", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_gimbal_device_attitude_status_t, target_component) }, \
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{ "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gimbal_device_attitude_status_t, time_boot_ms) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 38, offsetof(mavlink_gimbal_device_attitude_status_t, flags) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_gimbal_device_attitude_status_t, q) }, \
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{ "angular_velocity_x", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_gimbal_device_attitude_status_t, angular_velocity_x) }, \
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{ "angular_velocity_y", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_gimbal_device_attitude_status_t, angular_velocity_y) }, \
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{ "angular_velocity_z", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_gimbal_device_attitude_status_t, angular_velocity_z) }, \
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{ "failure_flags", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_gimbal_device_attitude_status_t, failure_flags) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a gimbal_device_attitude_status message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param flags Current gimbal flags set.
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set)
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* @param angular_velocity_x [rad/s] X component of angular velocity (NaN if unknown)
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* @param angular_velocity_y [rad/s] Y component of angular velocity (NaN if unknown)
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* @param angular_velocity_z [rad/s] Z component of angular velocity (NaN if unknown)
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* @param failure_flags Failure flags (0 for no failure)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_gimbal_device_attitude_status_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint16_t target_system, uint8_t target_component, uint32_t time_boot_ms, uint16_t flags, const float *q, float angular_velocity_x, float angular_velocity_y, float angular_velocity_z, uint32_t failure_flags)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, angular_velocity_x);
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_mav_put_float(buf, 24, angular_velocity_y);
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_mav_put_float(buf, 28, angular_velocity_z);
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_mav_put_uint32_t(buf, 32, failure_flags);
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_mav_put_uint16_t(buf, 36, target_system);
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_mav_put_uint16_t(buf, 38, flags);
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_mav_put_uint8_t(buf, 40, target_component);
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_mav_put_float_array(buf, 4, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN);
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#else
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mavlink_gimbal_device_attitude_status_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.angular_velocity_x = angular_velocity_x;
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packet.angular_velocity_y = angular_velocity_y;
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packet.angular_velocity_z = angular_velocity_z;
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packet.failure_flags = failure_flags;
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packet.target_system = target_system;
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packet.flags = flags;
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packet.target_component = target_component;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_CRC);
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}
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/**
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* @brief Pack a gimbal_device_attitude_status message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param target_system System ID
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* @param target_component Component ID
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param flags Current gimbal flags set.
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set)
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* @param angular_velocity_x [rad/s] X component of angular velocity (NaN if unknown)
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* @param angular_velocity_y [rad/s] Y component of angular velocity (NaN if unknown)
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* @param angular_velocity_z [rad/s] Z component of angular velocity (NaN if unknown)
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* @param failure_flags Failure flags (0 for no failure)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_gimbal_device_attitude_status_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint16_t target_system,uint8_t target_component,uint32_t time_boot_ms,uint16_t flags,const float *q,float angular_velocity_x,float angular_velocity_y,float angular_velocity_z,uint32_t failure_flags)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, angular_velocity_x);
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_mav_put_float(buf, 24, angular_velocity_y);
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_mav_put_float(buf, 28, angular_velocity_z);
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_mav_put_uint32_t(buf, 32, failure_flags);
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_mav_put_uint16_t(buf, 36, target_system);
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_mav_put_uint16_t(buf, 38, flags);
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_mav_put_uint8_t(buf, 40, target_component);
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_mav_put_float_array(buf, 4, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN);
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#else
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mavlink_gimbal_device_attitude_status_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.angular_velocity_x = angular_velocity_x;
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packet.angular_velocity_y = angular_velocity_y;
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packet.angular_velocity_z = angular_velocity_z;
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packet.failure_flags = failure_flags;
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packet.target_system = target_system;
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packet.flags = flags;
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packet.target_component = target_component;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_CRC);
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}
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/**
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* @brief Encode a gimbal_device_attitude_status struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param gimbal_device_attitude_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gimbal_device_attitude_status_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gimbal_device_attitude_status_t* gimbal_device_attitude_status)
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{
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return mavlink_msg_gimbal_device_attitude_status_pack(system_id, component_id, msg, gimbal_device_attitude_status->target_system, gimbal_device_attitude_status->target_component, gimbal_device_attitude_status->time_boot_ms, gimbal_device_attitude_status->flags, gimbal_device_attitude_status->q, gimbal_device_attitude_status->angular_velocity_x, gimbal_device_attitude_status->angular_velocity_y, gimbal_device_attitude_status->angular_velocity_z, gimbal_device_attitude_status->failure_flags);
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}
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/**
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* @brief Encode a gimbal_device_attitude_status struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param gimbal_device_attitude_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_gimbal_device_attitude_status_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gimbal_device_attitude_status_t* gimbal_device_attitude_status)
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{
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return mavlink_msg_gimbal_device_attitude_status_pack_chan(system_id, component_id, chan, msg, gimbal_device_attitude_status->target_system, gimbal_device_attitude_status->target_component, gimbal_device_attitude_status->time_boot_ms, gimbal_device_attitude_status->flags, gimbal_device_attitude_status->q, gimbal_device_attitude_status->angular_velocity_x, gimbal_device_attitude_status->angular_velocity_y, gimbal_device_attitude_status->angular_velocity_z, gimbal_device_attitude_status->failure_flags);
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}
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/**
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* @brief Send a gimbal_device_attitude_status message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID
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* @param target_component Component ID
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param flags Current gimbal flags set.
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set)
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* @param angular_velocity_x [rad/s] X component of angular velocity (NaN if unknown)
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* @param angular_velocity_y [rad/s] Y component of angular velocity (NaN if unknown)
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* @param angular_velocity_z [rad/s] Z component of angular velocity (NaN if unknown)
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* @param failure_flags Failure flags (0 for no failure)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_gimbal_device_attitude_status_send(mavlink_channel_t chan, uint16_t target_system, uint8_t target_component, uint32_t time_boot_ms, uint16_t flags, const float *q, float angular_velocity_x, float angular_velocity_y, float angular_velocity_z, uint32_t failure_flags)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 20, angular_velocity_x);
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_mav_put_float(buf, 24, angular_velocity_y);
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_mav_put_float(buf, 28, angular_velocity_z);
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_mav_put_uint32_t(buf, 32, failure_flags);
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_mav_put_uint16_t(buf, 36, target_system);
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_mav_put_uint16_t(buf, 38, flags);
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_mav_put_uint8_t(buf, 40, target_component);
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_mav_put_float_array(buf, 4, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_CRC);
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#else
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mavlink_gimbal_device_attitude_status_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.angular_velocity_x = angular_velocity_x;
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packet.angular_velocity_y = angular_velocity_y;
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packet.angular_velocity_z = angular_velocity_z;
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packet.failure_flags = failure_flags;
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packet.target_system = target_system;
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packet.flags = flags;
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packet.target_component = target_component;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, (const char *)&packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_CRC);
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#endif
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}
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/**
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||
|
|
* @brief Send a gimbal_device_attitude_status message
|
||
|
|
* @param chan MAVLink channel to send the message
|
||
|
|
* @param struct The MAVLink struct to serialize
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_gimbal_device_attitude_status_send_struct(mavlink_channel_t chan, const mavlink_gimbal_device_attitude_status_t* gimbal_device_attitude_status)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
mavlink_msg_gimbal_device_attitude_status_send(chan, gimbal_device_attitude_status->target_system, gimbal_device_attitude_status->target_component, gimbal_device_attitude_status->time_boot_ms, gimbal_device_attitude_status->flags, gimbal_device_attitude_status->q, gimbal_device_attitude_status->angular_velocity_x, gimbal_device_attitude_status->angular_velocity_y, gimbal_device_attitude_status->angular_velocity_z, gimbal_device_attitude_status->failure_flags);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, (const char *)gimbal_device_attitude_status, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_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_gimbal_device_attitude_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t target_system, uint8_t target_component, uint32_t time_boot_ms, uint16_t flags, const float *q, float angular_velocity_x, float angular_velocity_y, float angular_velocity_z, uint32_t failure_flags)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
||
|
|
_mav_put_float(buf, 20, angular_velocity_x);
|
||
|
|
_mav_put_float(buf, 24, angular_velocity_y);
|
||
|
|
_mav_put_float(buf, 28, angular_velocity_z);
|
||
|
|
_mav_put_uint32_t(buf, 32, failure_flags);
|
||
|
|
_mav_put_uint16_t(buf, 36, target_system);
|
||
|
|
_mav_put_uint16_t(buf, 38, flags);
|
||
|
|
_mav_put_uint8_t(buf, 40, target_component);
|
||
|
|
_mav_put_float_array(buf, 4, q, 4);
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, buf, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_gimbal_device_attitude_status_t *packet = (mavlink_gimbal_device_attitude_status_t *)msgbuf;
|
||
|
|
packet->time_boot_ms = time_boot_ms;
|
||
|
|
packet->angular_velocity_x = angular_velocity_x;
|
||
|
|
packet->angular_velocity_y = angular_velocity_y;
|
||
|
|
packet->angular_velocity_z = angular_velocity_z;
|
||
|
|
packet->failure_flags = failure_flags;
|
||
|
|
packet->target_system = target_system;
|
||
|
|
packet->flags = flags;
|
||
|
|
packet->target_component = target_component;
|
||
|
|
mav_array_memcpy(packet->q, q, sizeof(float)*4);
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS, (const char *)packet, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_MIN_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE GIMBAL_DEVICE_ATTITUDE_STATUS UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field target_system from gimbal_device_attitude_status message
|
||
|
|
*
|
||
|
|
* @return System ID
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_gimbal_device_attitude_status_get_target_system(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint16_t(msg, 36);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field target_component from gimbal_device_attitude_status message
|
||
|
|
*
|
||
|
|
* @return Component ID
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_gimbal_device_attitude_status_get_target_component(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 40);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field time_boot_ms from gimbal_device_attitude_status message
|
||
|
|
*
|
||
|
|
* @return [ms] Timestamp (time since system boot).
|
||
|
|
*/
|
||
|
|
static inline uint32_t mavlink_msg_gimbal_device_attitude_status_get_time_boot_ms(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field flags from gimbal_device_attitude_status message
|
||
|
|
*
|
||
|
|
* @return Current gimbal flags set.
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_gimbal_device_attitude_status_get_flags(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint16_t(msg, 38);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field q from gimbal_device_attitude_status message
|
||
|
|
*
|
||
|
|
* @return Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation, the frame is depends on whether the flag GIMBAL_DEVICE_FLAGS_YAW_LOCK is set)
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_gimbal_device_attitude_status_get_q(const mavlink_message_t* msg, float *q)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float_array(msg, q, 4, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field angular_velocity_x from gimbal_device_attitude_status message
|
||
|
|
*
|
||
|
|
* @return [rad/s] X component of angular velocity (NaN if unknown)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_device_attitude_status_get_angular_velocity_x(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 20);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field angular_velocity_y from gimbal_device_attitude_status message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Y component of angular velocity (NaN if unknown)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_device_attitude_status_get_angular_velocity_y(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 24);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field angular_velocity_z from gimbal_device_attitude_status message
|
||
|
|
*
|
||
|
|
* @return [rad/s] Z component of angular velocity (NaN if unknown)
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_gimbal_device_attitude_status_get_angular_velocity_z(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 28);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field failure_flags from gimbal_device_attitude_status message
|
||
|
|
*
|
||
|
|
* @return Failure flags (0 for no failure)
|
||
|
|
*/
|
||
|
|
static inline uint32_t mavlink_msg_gimbal_device_attitude_status_get_failure_flags(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint32_t(msg, 32);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a gimbal_device_attitude_status message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param gimbal_device_attitude_status C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_gimbal_device_attitude_status_decode(const mavlink_message_t* msg, mavlink_gimbal_device_attitude_status_t* gimbal_device_attitude_status)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
gimbal_device_attitude_status->time_boot_ms = mavlink_msg_gimbal_device_attitude_status_get_time_boot_ms(msg);
|
||
|
|
mavlink_msg_gimbal_device_attitude_status_get_q(msg, gimbal_device_attitude_status->q);
|
||
|
|
gimbal_device_attitude_status->angular_velocity_x = mavlink_msg_gimbal_device_attitude_status_get_angular_velocity_x(msg);
|
||
|
|
gimbal_device_attitude_status->angular_velocity_y = mavlink_msg_gimbal_device_attitude_status_get_angular_velocity_y(msg);
|
||
|
|
gimbal_device_attitude_status->angular_velocity_z = mavlink_msg_gimbal_device_attitude_status_get_angular_velocity_z(msg);
|
||
|
|
gimbal_device_attitude_status->failure_flags = mavlink_msg_gimbal_device_attitude_status_get_failure_flags(msg);
|
||
|
|
gimbal_device_attitude_status->target_system = mavlink_msg_gimbal_device_attitude_status_get_target_system(msg);
|
||
|
|
gimbal_device_attitude_status->flags = mavlink_msg_gimbal_device_attitude_status_get_flags(msg);
|
||
|
|
gimbal_device_attitude_status->target_component = mavlink_msg_gimbal_device_attitude_status_get_target_component(msg);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN? msg->len : MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN;
|
||
|
|
memset(gimbal_device_attitude_status, 0, MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS_LEN);
|
||
|
|
memcpy(gimbal_device_attitude_status, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|