dji_sdk_dji2mav: mavlink_msg_attitude_quaternion

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00001 // MESSAGE ATTITUDE_QUATERNION_COV PACKING
00002 
00003 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV 61
00004 
00005 typedef struct __mavlink_attitude_quaternion_cov_t
00006 {
00007  uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
00008  float q[4]; /*< Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)*/
00009  float rollspeed; /*< Roll angular speed (rad/s)*/
00010  float pitchspeed; /*< Pitch angular speed (rad/s)*/
00011  float yawspeed; /*< Yaw angular speed (rad/s)*/
00012  float covariance[9]; /*< Attitude covariance*/
00013 } mavlink_attitude_quaternion_cov_t;
00014 
00015 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN 68
00016 #define MAVLINK_MSG_ID_61_LEN 68
00017 
00018 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC 153
00019 #define MAVLINK_MSG_ID_61_CRC 153
00020 
00021 #define MAVLINK_MSG_ATTITUDE_QUATERNION_COV_FIELD_Q_LEN 4
00022 #define MAVLINK_MSG_ATTITUDE_QUATERNION_COV_FIELD_COVARIANCE_LEN 9
00023 
00024 #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION_COV { \
00025         "ATTITUDE_QUATERNION_COV", \
00026         6, \
00027         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_cov_t, time_boot_ms) }, \
00028          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 4, offsetof(mavlink_attitude_quaternion_cov_t, q) }, \
00029          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_cov_t, rollspeed) }, \
00030          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_cov_t, pitchspeed) }, \
00031          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_cov_t, yawspeed) }, \
00032          { "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 32, offsetof(mavlink_attitude_quaternion_cov_t, covariance) }, \
00033          } \
00034 }
00035 
00036 
00051 static inline uint16_t mavlink_msg_attitude_quaternion_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
00052                                                        uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
00053 {
00054 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00055         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN];
00056         _mav_put_uint32_t(buf, 0, time_boot_ms);
00057         _mav_put_float(buf, 20, rollspeed);
00058         _mav_put_float(buf, 24, pitchspeed);
00059         _mav_put_float(buf, 28, yawspeed);
00060         _mav_put_float_array(buf, 4, q, 4);
00061         _mav_put_float_array(buf, 32, covariance, 9);
00062         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00063 #else
00064         mavlink_attitude_quaternion_cov_t packet;
00065         packet.time_boot_ms = time_boot_ms;
00066         packet.rollspeed = rollspeed;
00067         packet.pitchspeed = pitchspeed;
00068         packet.yawspeed = yawspeed;
00069         mav_array_memcpy(packet.q, q, sizeof(float)*4);
00070         mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
00071         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00072 #endif
00073 
00074         msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV;
00075 #if MAVLINK_CRC_EXTRA
00076     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
00077 #else
00078     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00079 #endif
00080 }
00081 
00096 static inline uint16_t mavlink_msg_attitude_quaternion_cov_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
00097                                                            mavlink_message_t* msg,
00098                                                            uint32_t time_boot_ms,const float *q,float rollspeed,float pitchspeed,float yawspeed,const float *covariance)
00099 {
00100 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00101         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN];
00102         _mav_put_uint32_t(buf, 0, time_boot_ms);
00103         _mav_put_float(buf, 20, rollspeed);
00104         _mav_put_float(buf, 24, pitchspeed);
00105         _mav_put_float(buf, 28, yawspeed);
00106         _mav_put_float_array(buf, 4, q, 4);
00107         _mav_put_float_array(buf, 32, covariance, 9);
00108         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00109 #else
00110         mavlink_attitude_quaternion_cov_t packet;
00111         packet.time_boot_ms = time_boot_ms;
00112         packet.rollspeed = rollspeed;
00113         packet.pitchspeed = pitchspeed;
00114         packet.yawspeed = yawspeed;
00115         mav_array_memcpy(packet.q, q, sizeof(float)*4);
00116         mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
00117         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00118 #endif
00119 
00120         msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV;
00121 #if MAVLINK_CRC_EXTRA
00122     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
00123 #else
00124     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00125 #endif
00126 }
00127 
00136 static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
00137 {
00138         return mavlink_msg_attitude_quaternion_cov_pack(system_id, component_id, msg, attitude_quaternion_cov->time_boot_ms, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
00139 }
00140 
00150 static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
00151 {
00152         return mavlink_msg_attitude_quaternion_cov_pack_chan(system_id, component_id, chan, msg, attitude_quaternion_cov->time_boot_ms, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
00153 }
00154 
00166 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00167 
00168 static inline void mavlink_msg_attitude_quaternion_cov_send(mavlink_channel_t chan, uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
00169 {
00170 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00171         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN];
00172         _mav_put_uint32_t(buf, 0, time_boot_ms);
00173         _mav_put_float(buf, 20, rollspeed);
00174         _mav_put_float(buf, 24, pitchspeed);
00175         _mav_put_float(buf, 28, yawspeed);
00176         _mav_put_float_array(buf, 4, q, 4);
00177         _mav_put_float_array(buf, 32, covariance, 9);
00178 #if MAVLINK_CRC_EXTRA
00179     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
00180 #else
00181     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00182 #endif
00183 #else
00184         mavlink_attitude_quaternion_cov_t packet;
00185         packet.time_boot_ms = time_boot_ms;
00186         packet.rollspeed = rollspeed;
00187         packet.pitchspeed = pitchspeed;
00188         packet.yawspeed = yawspeed;
00189         mav_array_memcpy(packet.q, q, sizeof(float)*4);
00190         mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
00191 #if MAVLINK_CRC_EXTRA
00192     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
00193 #else
00194     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00195 #endif
00196 #endif
00197 }
00198 
00199 #if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN <= MAVLINK_MAX_PAYLOAD_LEN
00200 /*
00201   This varient of _send() can be used to save stack space by re-using
00202   memory from the receive buffer.  The caller provides a
00203   mavlink_message_t which is the size of a full mavlink message. This
00204   is usually the receive buffer for the channel, and allows a reply to an
00205   incoming message with minimum stack space usage.
00206  */
00207 static inline void mavlink_msg_attitude_quaternion_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
00208 {
00209 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00210         char *buf = (char *)msgbuf;
00211         _mav_put_uint32_t(buf, 0, time_boot_ms);
00212         _mav_put_float(buf, 20, rollspeed);
00213         _mav_put_float(buf, 24, pitchspeed);
00214         _mav_put_float(buf, 28, yawspeed);
00215         _mav_put_float_array(buf, 4, q, 4);
00216         _mav_put_float_array(buf, 32, covariance, 9);
00217 #if MAVLINK_CRC_EXTRA
00218     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
00219 #else
00220     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00221 #endif
00222 #else
00223         mavlink_attitude_quaternion_cov_t *packet = (mavlink_attitude_quaternion_cov_t *)msgbuf;
00224         packet->time_boot_ms = time_boot_ms;
00225         packet->rollspeed = rollspeed;
00226         packet->pitchspeed = pitchspeed;
00227         packet->yawspeed = yawspeed;
00228         mav_array_memcpy(packet->q, q, sizeof(float)*4);
00229         mav_array_memcpy(packet->covariance, covariance, sizeof(float)*9);
00230 #if MAVLINK_CRC_EXTRA
00231     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
00232 #else
00233     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00234 #endif
00235 #endif
00236 }
00237 #endif
00238 
00239 #endif
00240 
00241 // MESSAGE ATTITUDE_QUATERNION_COV UNPACKING
00242 
00243 
00249 static inline uint32_t mavlink_msg_attitude_quaternion_cov_get_time_boot_ms(const mavlink_message_t* msg)
00250 {
00251         return _MAV_RETURN_uint32_t(msg,  0);
00252 }
00253 
00259 static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_q(const mavlink_message_t* msg, float *q)
00260 {
00261         return _MAV_RETURN_float_array(msg, q, 4,  4);
00262 }
00263 
00269 static inline float mavlink_msg_attitude_quaternion_cov_get_rollspeed(const mavlink_message_t* msg)
00270 {
00271         return _MAV_RETURN_float(msg,  20);
00272 }
00273 
00279 static inline float mavlink_msg_attitude_quaternion_cov_get_pitchspeed(const mavlink_message_t* msg)
00280 {
00281         return _MAV_RETURN_float(msg,  24);
00282 }
00283 
00289 static inline float mavlink_msg_attitude_quaternion_cov_get_yawspeed(const mavlink_message_t* msg)
00290 {
00291         return _MAV_RETURN_float(msg,  28);
00292 }
00293 
00299 static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
00300 {
00301         return _MAV_RETURN_float_array(msg, covariance, 9,  32);
00302 }
00303 
00310 static inline void mavlink_msg_attitude_quaternion_cov_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
00311 {
00312 #if MAVLINK_NEED_BYTE_SWAP
00313         attitude_quaternion_cov->time_boot_ms = mavlink_msg_attitude_quaternion_cov_get_time_boot_ms(msg);
00314         mavlink_msg_attitude_quaternion_cov_get_q(msg, attitude_quaternion_cov->q);
00315         attitude_quaternion_cov->rollspeed = mavlink_msg_attitude_quaternion_cov_get_rollspeed(msg);
00316         attitude_quaternion_cov->pitchspeed = mavlink_msg_attitude_quaternion_cov_get_pitchspeed(msg);
00317         attitude_quaternion_cov->yawspeed = mavlink_msg_attitude_quaternion_cov_get_yawspeed(msg);
00318         mavlink_msg_attitude_quaternion_cov_get_covariance(msg, attitude_quaternion_cov->covariance);
00319 #else
00320         memcpy(attitude_quaternion_cov, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
00321 #endif
00322 }