mavlink_msg_highres_imu.h

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// MESSAGE HIGHRES_IMU PACKING

#define MAVLINK_MSG_ID_HIGHRES_IMU 105

typedef struct __mavlink_highres_imu_t
{
 uint64_t time_usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
 float xacc; /*< X acceleration (m/s^2)*/
 float yacc; /*< Y acceleration (m/s^2)*/
 float zacc; /*< Z acceleration (m/s^2)*/
 float xgyro; /*< Angular speed around X axis (rad / sec)*/
 float ygyro; /*< Angular speed around Y axis (rad / sec)*/
 float zgyro; /*< Angular speed around Z axis (rad / sec)*/
 float xmag; /*< X Magnetic field (Gauss)*/
 float ymag; /*< Y Magnetic field (Gauss)*/
 float zmag; /*< Z Magnetic field (Gauss)*/
 float abs_pressure; /*< Absolute pressure in millibar*/
 float diff_pressure; /*< Differential pressure in millibar*/
 float pressure_alt; /*< Altitude calculated from pressure*/
 float temperature; /*< Temperature in degrees celsius*/
 uint16_t fields_updated; /*< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature*/
} mavlink_highres_imu_t;

#define MAVLINK_MSG_ID_HIGHRES_IMU_LEN 62
#define MAVLINK_MSG_ID_105_LEN 62

#define MAVLINK_MSG_ID_HIGHRES_IMU_CRC 93
#define MAVLINK_MSG_ID_105_CRC 93



#define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
        "HIGHRES_IMU", \
        15, \
        {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \
         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \
         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \
         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \
         { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \
         { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \
         { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \
         { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \
         { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \
         { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \
         { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \
         { "fields_updated", NULL, MAVLINK_TYPE_UINT16_T, 0, 60, offsetof(mavlink_highres_imu_t, fields_updated) }, \
         } \
}


static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                                       uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
        _mav_put_uint64_t(buf, 0, time_usec);
        _mav_put_float(buf, 8, xacc);
        _mav_put_float(buf, 12, yacc);
        _mav_put_float(buf, 16, zacc);
        _mav_put_float(buf, 20, xgyro);
        _mav_put_float(buf, 24, ygyro);
        _mav_put_float(buf, 28, zgyro);
        _mav_put_float(buf, 32, xmag);
        _mav_put_float(buf, 36, ymag);
        _mav_put_float(buf, 40, zmag);
        _mav_put_float(buf, 44, abs_pressure);
        _mav_put_float(buf, 48, diff_pressure);
        _mav_put_float(buf, 52, pressure_alt);
        _mav_put_float(buf, 56, temperature);
        _mav_put_uint16_t(buf, 60, fields_updated);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#else
        mavlink_highres_imu_t packet;
        packet.time_usec = time_usec;
        packet.xacc = xacc;
        packet.yacc = yacc;
        packet.zacc = zacc;
        packet.xgyro = xgyro;
        packet.ygyro = ygyro;
        packet.zgyro = zgyro;
        packet.xmag = xmag;
        packet.ymag = ymag;
        packet.zmag = zmag;
        packet.abs_pressure = abs_pressure;
        packet.diff_pressure = diff_pressure;
        packet.pressure_alt = pressure_alt;
        packet.temperature = temperature;
        packet.fields_updated = fields_updated;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
#else
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#endif
}

static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                           mavlink_message_t* msg,
                                                           uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint16_t fields_updated)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
        _mav_put_uint64_t(buf, 0, time_usec);
        _mav_put_float(buf, 8, xacc);
        _mav_put_float(buf, 12, yacc);
        _mav_put_float(buf, 16, zacc);
        _mav_put_float(buf, 20, xgyro);
        _mav_put_float(buf, 24, ygyro);
        _mav_put_float(buf, 28, zgyro);
        _mav_put_float(buf, 32, xmag);
        _mav_put_float(buf, 36, ymag);
        _mav_put_float(buf, 40, zmag);
        _mav_put_float(buf, 44, abs_pressure);
        _mav_put_float(buf, 48, diff_pressure);
        _mav_put_float(buf, 52, pressure_alt);
        _mav_put_float(buf, 56, temperature);
        _mav_put_uint16_t(buf, 60, fields_updated);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#else
        mavlink_highres_imu_t packet;
        packet.time_usec = time_usec;
        packet.xacc = xacc;
        packet.yacc = yacc;
        packet.zacc = zacc;
        packet.xgyro = xgyro;
        packet.ygyro = ygyro;
        packet.zgyro = zgyro;
        packet.xmag = xmag;
        packet.ymag = ymag;
        packet.zmag = zmag;
        packet.abs_pressure = abs_pressure;
        packet.diff_pressure = diff_pressure;
        packet.pressure_alt = pressure_alt;
        packet.temperature = temperature;
        packet.fields_updated = fields_updated;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#endif

        msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
#else
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#endif
}

static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
{
        return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
}

static inline uint16_t mavlink_msg_highres_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
{
        return mavlink_msg_highres_imu_pack_chan(system_id, component_id, chan, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
}

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
        _mav_put_uint64_t(buf, 0, time_usec);
        _mav_put_float(buf, 8, xacc);
        _mav_put_float(buf, 12, yacc);
        _mav_put_float(buf, 16, zacc);
        _mav_put_float(buf, 20, xgyro);
        _mav_put_float(buf, 24, ygyro);
        _mav_put_float(buf, 28, zgyro);
        _mav_put_float(buf, 32, xmag);
        _mav_put_float(buf, 36, ymag);
        _mav_put_float(buf, 40, zmag);
        _mav_put_float(buf, 44, abs_pressure);
        _mav_put_float(buf, 48, diff_pressure);
        _mav_put_float(buf, 52, pressure_alt);
        _mav_put_float(buf, 56, temperature);
        _mav_put_uint16_t(buf, 60, fields_updated);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#endif
#else
        mavlink_highres_imu_t packet;
        packet.time_usec = time_usec;
        packet.xacc = xacc;
        packet.yacc = yacc;
        packet.zacc = zacc;
        packet.xgyro = xgyro;
        packet.ygyro = ygyro;
        packet.zgyro = zgyro;
        packet.xmag = xmag;
        packet.ymag = ymag;
        packet.zmag = zmag;
        packet.abs_pressure = abs_pressure;
        packet.diff_pressure = diff_pressure;
        packet.pressure_alt = pressure_alt;
        packet.temperature = temperature;
        packet.fields_updated = fields_updated;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#endif
#endif
}

#if MAVLINK_MSG_ID_HIGHRES_IMU_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_highres_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char *buf = (char *)msgbuf;
        _mav_put_uint64_t(buf, 0, time_usec);
        _mav_put_float(buf, 8, xacc);
        _mav_put_float(buf, 12, yacc);
        _mav_put_float(buf, 16, zacc);
        _mav_put_float(buf, 20, xgyro);
        _mav_put_float(buf, 24, ygyro);
        _mav_put_float(buf, 28, zgyro);
        _mav_put_float(buf, 32, xmag);
        _mav_put_float(buf, 36, ymag);
        _mav_put_float(buf, 40, zmag);
        _mav_put_float(buf, 44, abs_pressure);
        _mav_put_float(buf, 48, diff_pressure);
        _mav_put_float(buf, 52, pressure_alt);
        _mav_put_float(buf, 56, temperature);
        _mav_put_uint16_t(buf, 60, fields_updated);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#endif
#else
        mavlink_highres_imu_t *packet = (mavlink_highres_imu_t *)msgbuf;
        packet->time_usec = time_usec;
        packet->xacc = xacc;
        packet->yacc = yacc;
        packet->zacc = zacc;
        packet->xgyro = xgyro;
        packet->ygyro = ygyro;
        packet->zgyro = zgyro;
        packet->xmag = xmag;
        packet->ymag = ymag;
        packet->zmag = zmag;
        packet->abs_pressure = abs_pressure;
        packet->diff_pressure = diff_pressure;
        packet->pressure_alt = pressure_alt;
        packet->temperature = temperature;
        packet->fields_updated = fields_updated;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#endif
#endif
}
#endif

#endif

// MESSAGE HIGHRES_IMU UNPACKING


static inline uint64_t mavlink_msg_highres_imu_get_time_usec(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint64_t(msg,  0);
}

static inline float mavlink_msg_highres_imu_get_xacc(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  8);
}

static inline float mavlink_msg_highres_imu_get_yacc(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  12);
}

static inline float mavlink_msg_highres_imu_get_zacc(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  16);
}

static inline float mavlink_msg_highres_imu_get_xgyro(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  20);
}

static inline float mavlink_msg_highres_imu_get_ygyro(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  24);
}

static inline float mavlink_msg_highres_imu_get_zgyro(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  28);
}

static inline float mavlink_msg_highres_imu_get_xmag(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  32);
}

static inline float mavlink_msg_highres_imu_get_ymag(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  36);
}

static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  40);
}

static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  44);
}

static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  48);
}

static inline float mavlink_msg_highres_imu_get_pressure_alt(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  52);
}

static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_message_t* msg)
{
        return _MAV_RETURN_float(msg,  56);
}

static inline uint16_t mavlink_msg_highres_imu_get_fields_updated(const mavlink_message_t* msg)
{
        return _MAV_RETURN_uint16_t(msg,  60);
}

static inline void mavlink_msg_highres_imu_decode(const mavlink_message_t* msg, mavlink_highres_imu_t* highres_imu)
{
#if MAVLINK_NEED_BYTE_SWAP
        highres_imu->time_usec = mavlink_msg_highres_imu_get_time_usec(msg);
        highres_imu->xacc = mavlink_msg_highres_imu_get_xacc(msg);
        highres_imu->yacc = mavlink_msg_highres_imu_get_yacc(msg);
        highres_imu->zacc = mavlink_msg_highres_imu_get_zacc(msg);
        highres_imu->xgyro = mavlink_msg_highres_imu_get_xgyro(msg);
        highres_imu->ygyro = mavlink_msg_highres_imu_get_ygyro(msg);
        highres_imu->zgyro = mavlink_msg_highres_imu_get_zgyro(msg);
        highres_imu->xmag = mavlink_msg_highres_imu_get_xmag(msg);
        highres_imu->ymag = mavlink_msg_highres_imu_get_ymag(msg);
        highres_imu->zmag = mavlink_msg_highres_imu_get_zmag(msg);
        highres_imu->abs_pressure = mavlink_msg_highres_imu_get_abs_pressure(msg);
        highres_imu->diff_pressure = mavlink_msg_highres_imu_get_diff_pressure(msg);
        highres_imu->pressure_alt = mavlink_msg_highres_imu_get_pressure_alt(msg);
        highres_imu->temperature = mavlink_msg_highres_imu_get_temperature(msg);
        highres_imu->fields_updated = mavlink_msg_highres_imu_get_fields_updated(msg);
#else
        memcpy(highres_imu, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
#endif
}