mavlink_msg_hil_sensor.h
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1 // MESSAGE HIL_SENSOR PACKING
2 
3 #define MAVLINK_MSG_ID_HIL_SENSOR 107
4 
5 typedef struct __mavlink_hil_sensor_t
6 {
7  uint64_t time_usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
8  float xacc; /*< X acceleration (m/s^2)*/
9  float yacc; /*< Y acceleration (m/s^2)*/
10  float zacc; /*< Z acceleration (m/s^2)*/
11  float xgyro; /*< Angular speed around X axis in body frame (rad / sec)*/
12  float ygyro; /*< Angular speed around Y axis in body frame (rad / sec)*/
13  float zgyro; /*< Angular speed around Z axis in body frame (rad / sec)*/
14  float xmag; /*< X Magnetic field (Gauss)*/
15  float ymag; /*< Y Magnetic field (Gauss)*/
16  float zmag; /*< Z Magnetic field (Gauss)*/
17  float abs_pressure; /*< Absolute pressure in millibar*/
18  float diff_pressure; /*< Differential pressure (airspeed) in millibar*/
19  float pressure_alt; /*< Altitude calculated from pressure*/
20  float temperature; /*< Temperature in degrees celsius*/
21  uint32_t fields_updated; /*< Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.*/
23 
24 #define MAVLINK_MSG_ID_HIL_SENSOR_LEN 64
25 #define MAVLINK_MSG_ID_107_LEN 64
26 
27 #define MAVLINK_MSG_ID_HIL_SENSOR_CRC 108
28 #define MAVLINK_MSG_ID_107_CRC 108
29 
30 
31 
32 #define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \
33  "HIL_SENSOR", \
34  15, \
35  { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
36  { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
37  { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
38  { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
39  { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
40  { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
41  { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
42  { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
43  { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
44  { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
45  { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
46  { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
47  { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
48  { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
49  { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \
50  } \
51 }
52 
53 
77 static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
78  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, uint32_t fields_updated)
79 {
80 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
82  _mav_put_uint64_t(buf, 0, time_usec);
83  _mav_put_float(buf, 8, xacc);
84  _mav_put_float(buf, 12, yacc);
85  _mav_put_float(buf, 16, zacc);
86  _mav_put_float(buf, 20, xgyro);
87  _mav_put_float(buf, 24, ygyro);
88  _mav_put_float(buf, 28, zgyro);
89  _mav_put_float(buf, 32, xmag);
90  _mav_put_float(buf, 36, ymag);
91  _mav_put_float(buf, 40, zmag);
92  _mav_put_float(buf, 44, abs_pressure);
93  _mav_put_float(buf, 48, diff_pressure);
94  _mav_put_float(buf, 52, pressure_alt);
95  _mav_put_float(buf, 56, temperature);
96  _mav_put_uint32_t(buf, 60, fields_updated);
97 
99 #else
100  mavlink_hil_sensor_t packet;
101  packet.time_usec = time_usec;
102  packet.xacc = xacc;
103  packet.yacc = yacc;
104  packet.zacc = zacc;
105  packet.xgyro = xgyro;
106  packet.ygyro = ygyro;
107  packet.zgyro = zgyro;
108  packet.xmag = xmag;
109  packet.ymag = ymag;
110  packet.zmag = zmag;
111  packet.abs_pressure = abs_pressure;
112  packet.diff_pressure = diff_pressure;
113  packet.pressure_alt = pressure_alt;
114  packet.temperature = temperature;
116 
118 #endif
119 
120  msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
121 #if MAVLINK_CRC_EXTRA
123 #else
124  return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
125 #endif
126 }
127 
151 static inline uint16_t mavlink_msg_hil_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
152  mavlink_message_t* msg,
153  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,uint32_t fields_updated)
154 {
155 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
157  _mav_put_uint64_t(buf, 0, time_usec);
158  _mav_put_float(buf, 8, xacc);
159  _mav_put_float(buf, 12, yacc);
160  _mav_put_float(buf, 16, zacc);
161  _mav_put_float(buf, 20, xgyro);
162  _mav_put_float(buf, 24, ygyro);
163  _mav_put_float(buf, 28, zgyro);
164  _mav_put_float(buf, 32, xmag);
165  _mav_put_float(buf, 36, ymag);
166  _mav_put_float(buf, 40, zmag);
167  _mav_put_float(buf, 44, abs_pressure);
168  _mav_put_float(buf, 48, diff_pressure);
169  _mav_put_float(buf, 52, pressure_alt);
170  _mav_put_float(buf, 56, temperature);
171  _mav_put_uint32_t(buf, 60, fields_updated);
172 
174 #else
175  mavlink_hil_sensor_t packet;
176  packet.time_usec = time_usec;
177  packet.xacc = xacc;
178  packet.yacc = yacc;
179  packet.zacc = zacc;
180  packet.xgyro = xgyro;
181  packet.ygyro = ygyro;
182  packet.zgyro = zgyro;
183  packet.xmag = xmag;
184  packet.ymag = ymag;
185  packet.zmag = zmag;
186  packet.abs_pressure = abs_pressure;
187  packet.diff_pressure = diff_pressure;
188  packet.pressure_alt = pressure_alt;
189  packet.temperature = temperature;
191 
193 #endif
194 
195  msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
196 #if MAVLINK_CRC_EXTRA
198 #else
199  return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
200 #endif
201 }
202 
211 static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
212 {
213  return mavlink_msg_hil_sensor_pack(system_id, component_id, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated);
214 }
215 
225 static inline uint16_t mavlink_msg_hil_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
226 {
227  return mavlink_msg_hil_sensor_pack_chan(system_id, component_id, chan, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated);
228 }
229 
250 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
251 
252 static inline void mavlink_msg_hil_sensor_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, uint32_t fields_updated)
253 {
254 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
256  _mav_put_uint64_t(buf, 0, time_usec);
257  _mav_put_float(buf, 8, xacc);
258  _mav_put_float(buf, 12, yacc);
259  _mav_put_float(buf, 16, zacc);
260  _mav_put_float(buf, 20, xgyro);
261  _mav_put_float(buf, 24, ygyro);
262  _mav_put_float(buf, 28, zgyro);
263  _mav_put_float(buf, 32, xmag);
264  _mav_put_float(buf, 36, ymag);
265  _mav_put_float(buf, 40, zmag);
266  _mav_put_float(buf, 44, abs_pressure);
267  _mav_put_float(buf, 48, diff_pressure);
268  _mav_put_float(buf, 52, pressure_alt);
269  _mav_put_float(buf, 56, temperature);
270  _mav_put_uint32_t(buf, 60, fields_updated);
271 
272 #if MAVLINK_CRC_EXTRA
273  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
274 #else
275  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
276 #endif
277 #else
278  mavlink_hil_sensor_t packet;
279  packet.time_usec = time_usec;
280  packet.xacc = xacc;
281  packet.yacc = yacc;
282  packet.zacc = zacc;
283  packet.xgyro = xgyro;
284  packet.ygyro = ygyro;
285  packet.zgyro = zgyro;
286  packet.xmag = xmag;
287  packet.ymag = ymag;
288  packet.zmag = zmag;
289  packet.abs_pressure = abs_pressure;
290  packet.diff_pressure = diff_pressure;
291  packet.pressure_alt = pressure_alt;
292  packet.temperature = temperature;
294 
295 #if MAVLINK_CRC_EXTRA
296  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
297 #else
298  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
299 #endif
300 #endif
301 }
302 
303 #if MAVLINK_MSG_ID_HIL_SENSOR_LEN <= MAVLINK_MAX_PAYLOAD_LEN
304 /*
305  This varient of _send() can be used to save stack space by re-using
306  memory from the receive buffer. The caller provides a
307  mavlink_message_t which is the size of a full mavlink message. This
308  is usually the receive buffer for the channel, and allows a reply to an
309  incoming message with minimum stack space usage.
310  */
311 static inline void mavlink_msg_hil_sensor_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, uint32_t fields_updated)
312 {
313 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
314  char *buf = (char *)msgbuf;
315  _mav_put_uint64_t(buf, 0, time_usec);
316  _mav_put_float(buf, 8, xacc);
317  _mav_put_float(buf, 12, yacc);
318  _mav_put_float(buf, 16, zacc);
319  _mav_put_float(buf, 20, xgyro);
320  _mav_put_float(buf, 24, ygyro);
321  _mav_put_float(buf, 28, zgyro);
322  _mav_put_float(buf, 32, xmag);
323  _mav_put_float(buf, 36, ymag);
324  _mav_put_float(buf, 40, zmag);
325  _mav_put_float(buf, 44, abs_pressure);
326  _mav_put_float(buf, 48, diff_pressure);
327  _mav_put_float(buf, 52, pressure_alt);
328  _mav_put_float(buf, 56, temperature);
329  _mav_put_uint32_t(buf, 60, fields_updated);
330 
331 #if MAVLINK_CRC_EXTRA
332  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
333 #else
334  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
335 #endif
336 #else
337  mavlink_hil_sensor_t *packet = (mavlink_hil_sensor_t *)msgbuf;
338  packet->time_usec = time_usec;
339  packet->xacc = xacc;
340  packet->yacc = yacc;
341  packet->zacc = zacc;
342  packet->xgyro = xgyro;
343  packet->ygyro = ygyro;
344  packet->zgyro = zgyro;
345  packet->xmag = xmag;
346  packet->ymag = ymag;
347  packet->zmag = zmag;
348  packet->abs_pressure = abs_pressure;
349  packet->diff_pressure = diff_pressure;
350  packet->pressure_alt = pressure_alt;
351  packet->temperature = temperature;
352  packet->fields_updated = fields_updated;
353 
354 #if MAVLINK_CRC_EXTRA
355  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
356 #else
357  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
358 #endif
359 #endif
360 }
361 #endif
362 
363 #endif
364 
365 // MESSAGE HIL_SENSOR UNPACKING
366 
367 
373 static inline uint64_t mavlink_msg_hil_sensor_get_time_usec(const mavlink_message_t* msg)
374 {
375  return _MAV_RETURN_uint64_t(msg, 0);
376 }
377 
383 static inline float mavlink_msg_hil_sensor_get_xacc(const mavlink_message_t* msg)
384 {
385  return _MAV_RETURN_float(msg, 8);
386 }
387 
393 static inline float mavlink_msg_hil_sensor_get_yacc(const mavlink_message_t* msg)
394 {
395  return _MAV_RETURN_float(msg, 12);
396 }
397 
403 static inline float mavlink_msg_hil_sensor_get_zacc(const mavlink_message_t* msg)
404 {
405  return _MAV_RETURN_float(msg, 16);
406 }
407 
413 static inline float mavlink_msg_hil_sensor_get_xgyro(const mavlink_message_t* msg)
414 {
415  return _MAV_RETURN_float(msg, 20);
416 }
417 
423 static inline float mavlink_msg_hil_sensor_get_ygyro(const mavlink_message_t* msg)
424 {
425  return _MAV_RETURN_float(msg, 24);
426 }
427 
433 static inline float mavlink_msg_hil_sensor_get_zgyro(const mavlink_message_t* msg)
434 {
435  return _MAV_RETURN_float(msg, 28);
436 }
437 
443 static inline float mavlink_msg_hil_sensor_get_xmag(const mavlink_message_t* msg)
444 {
445  return _MAV_RETURN_float(msg, 32);
446 }
447 
453 static inline float mavlink_msg_hil_sensor_get_ymag(const mavlink_message_t* msg)
454 {
455  return _MAV_RETURN_float(msg, 36);
456 }
457 
463 static inline float mavlink_msg_hil_sensor_get_zmag(const mavlink_message_t* msg)
464 {
465  return _MAV_RETURN_float(msg, 40);
466 }
467 
473 static inline float mavlink_msg_hil_sensor_get_abs_pressure(const mavlink_message_t* msg)
474 {
475  return _MAV_RETURN_float(msg, 44);
476 }
477 
483 static inline float mavlink_msg_hil_sensor_get_diff_pressure(const mavlink_message_t* msg)
484 {
485  return _MAV_RETURN_float(msg, 48);
486 }
487 
493 static inline float mavlink_msg_hil_sensor_get_pressure_alt(const mavlink_message_t* msg)
494 {
495  return _MAV_RETURN_float(msg, 52);
496 }
497 
503 static inline float mavlink_msg_hil_sensor_get_temperature(const mavlink_message_t* msg)
504 {
505  return _MAV_RETURN_float(msg, 56);
506 }
507 
513 static inline uint32_t mavlink_msg_hil_sensor_get_fields_updated(const mavlink_message_t* msg)
514 {
515  return _MAV_RETURN_uint32_t(msg, 60);
516 }
517 
524 static inline void mavlink_msg_hil_sensor_decode(const mavlink_message_t* msg, mavlink_hil_sensor_t* hil_sensor)
525 {
526 #if MAVLINK_NEED_BYTE_SWAP
528  hil_sensor->xacc = mavlink_msg_hil_sensor_get_xacc(msg);
529  hil_sensor->yacc = mavlink_msg_hil_sensor_get_yacc(msg);
530  hil_sensor->zacc = mavlink_msg_hil_sensor_get_zacc(msg);
531  hil_sensor->xgyro = mavlink_msg_hil_sensor_get_xgyro(msg);
532  hil_sensor->ygyro = mavlink_msg_hil_sensor_get_ygyro(msg);
533  hil_sensor->zgyro = mavlink_msg_hil_sensor_get_zgyro(msg);
534  hil_sensor->xmag = mavlink_msg_hil_sensor_get_xmag(msg);
535  hil_sensor->ymag = mavlink_msg_hil_sensor_get_ymag(msg);
536  hil_sensor->zmag = mavlink_msg_hil_sensor_get_zmag(msg);
542 #else
543  memcpy(hil_sensor, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_SENSOR_LEN);
544 #endif
545 }
#define _mav_put_float(buf, wire_offset, b)
Definition: protocol.h:151
#define _mav_put_uint64_t(buf, wire_offset, b)
Definition: protocol.h:149
#define _mav_put_uint32_t(buf, wire_offset, b)
Definition: protocol.h:147


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:18