mavlink_msg_small_imu.h

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// MESSAGE SMALL_IMU PACKING

#define MAVLINK_MSG_ID_SMALL_IMU 181

typedef struct __mavlink_small_imu_t
{
 uint64_t time_boot_us; /*< Measurement timestamp as microseconds since boot*/
 float xacc; /*< Acceleration along X axis*/
 float yacc; /*< Acceleration along Y axis*/
 float zacc; /*< Acceleration along Z axis*/
 float xgyro; /*< Angular speed around X axis*/
 float ygyro; /*< Angular speed around Y axis*/
 float zgyro; /*< Angular speed around Z axis*/
 float temperature; /*< Internal temperature measurement*/
} mavlink_small_imu_t;

#define MAVLINK_MSG_ID_SMALL_IMU_LEN 36
#define MAVLINK_MSG_ID_181_LEN 36

#define MAVLINK_MSG_ID_SMALL_IMU_CRC 67
#define MAVLINK_MSG_ID_181_CRC 67



#define MAVLINK_MESSAGE_INFO_SMALL_IMU { \
        "SMALL_IMU", \
        8, \
        {  { "time_boot_us", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_small_imu_t, time_boot_us) }, \
         { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_small_imu_t, xacc) }, \
         { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_small_imu_t, yacc) }, \
         { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_small_imu_t, zacc) }, \
         { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_small_imu_t, xgyro) }, \
         { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_small_imu_t, ygyro) }, \
         { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_small_imu_t, zgyro) }, \
         { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_small_imu_t, temperature) }, \
         } \
}


static inline uint16_t mavlink_msg_small_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                                                       uint64_t time_boot_us, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float temperature)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_SMALL_IMU_LEN];
        _mav_put_uint64_t(buf, 0, time_boot_us);
        _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, temperature);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SMALL_IMU_LEN);
#else
        mavlink_small_imu_t packet;
        packet.time_boot_us = time_boot_us;
        packet.xacc = xacc;
        packet.yacc = yacc;
        packet.zacc = zacc;
        packet.xgyro = xgyro;
        packet.ygyro = ygyro;
        packet.zgyro = zgyro;
        packet.temperature = temperature;

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

        msg->msgid = MAVLINK_MSG_ID_SMALL_IMU;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SMALL_IMU_LEN, MAVLINK_MSG_ID_SMALL_IMU_CRC);
#else
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SMALL_IMU_LEN);
#endif
}

static inline uint16_t mavlink_msg_small_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                           mavlink_message_t* msg,
                                                           uint64_t time_boot_us,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float temperature)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_SMALL_IMU_LEN];
        _mav_put_uint64_t(buf, 0, time_boot_us);
        _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, temperature);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SMALL_IMU_LEN);
#else
        mavlink_small_imu_t packet;
        packet.time_boot_us = time_boot_us;
        packet.xacc = xacc;
        packet.yacc = yacc;
        packet.zacc = zacc;
        packet.xgyro = xgyro;
        packet.ygyro = ygyro;
        packet.zgyro = zgyro;
        packet.temperature = temperature;

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

        msg->msgid = MAVLINK_MSG_ID_SMALL_IMU;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SMALL_IMU_LEN, MAVLINK_MSG_ID_SMALL_IMU_CRC);
#else
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SMALL_IMU_LEN);
#endif
}

static inline uint16_t mavlink_msg_small_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_small_imu_t* small_imu)
{
        return mavlink_msg_small_imu_pack(system_id, component_id, msg, small_imu->time_boot_us, small_imu->xacc, small_imu->yacc, small_imu->zacc, small_imu->xgyro, small_imu->ygyro, small_imu->zgyro, small_imu->temperature);
}

static inline uint16_t mavlink_msg_small_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_small_imu_t* small_imu)
{
        return mavlink_msg_small_imu_pack_chan(system_id, component_id, chan, msg, small_imu->time_boot_us, small_imu->xacc, small_imu->yacc, small_imu->zacc, small_imu->xgyro, small_imu->ygyro, small_imu->zgyro, small_imu->temperature);
}

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_small_imu_send(mavlink_channel_t chan, uint64_t time_boot_us, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float temperature)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char buf[MAVLINK_MSG_ID_SMALL_IMU_LEN];
        _mav_put_uint64_t(buf, 0, time_boot_us);
        _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, temperature);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SMALL_IMU, buf, MAVLINK_MSG_ID_SMALL_IMU_LEN, MAVLINK_MSG_ID_SMALL_IMU_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SMALL_IMU, buf, MAVLINK_MSG_ID_SMALL_IMU_LEN);
#endif
#else
        mavlink_small_imu_t packet;
        packet.time_boot_us = time_boot_us;
        packet.xacc = xacc;
        packet.yacc = yacc;
        packet.zacc = zacc;
        packet.xgyro = xgyro;
        packet.ygyro = ygyro;
        packet.zgyro = zgyro;
        packet.temperature = temperature;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SMALL_IMU, (const char *)&packet, MAVLINK_MSG_ID_SMALL_IMU_LEN, MAVLINK_MSG_ID_SMALL_IMU_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SMALL_IMU, (const char *)&packet, MAVLINK_MSG_ID_SMALL_IMU_LEN);
#endif
#endif
}

#if MAVLINK_MSG_ID_SMALL_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_small_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_boot_us, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float temperature)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
        char *buf = (char *)msgbuf;
        _mav_put_uint64_t(buf, 0, time_boot_us);
        _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, temperature);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SMALL_IMU, buf, MAVLINK_MSG_ID_SMALL_IMU_LEN, MAVLINK_MSG_ID_SMALL_IMU_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SMALL_IMU, buf, MAVLINK_MSG_ID_SMALL_IMU_LEN);
#endif
#else
        mavlink_small_imu_t *packet = (mavlink_small_imu_t *)msgbuf;
        packet->time_boot_us = time_boot_us;
        packet->xacc = xacc;
        packet->yacc = yacc;
        packet->zacc = zacc;
        packet->xgyro = xgyro;
        packet->ygyro = ygyro;
        packet->zgyro = zgyro;
        packet->temperature = temperature;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SMALL_IMU, (const char *)packet, MAVLINK_MSG_ID_SMALL_IMU_LEN, MAVLINK_MSG_ID_SMALL_IMU_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SMALL_IMU, (const char *)packet, MAVLINK_MSG_ID_SMALL_IMU_LEN);
#endif
#endif
}
#endif

#endif

// MESSAGE SMALL_IMU UNPACKING


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

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

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

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

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

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

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

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

static inline void mavlink_msg_small_imu_decode(const mavlink_message_t* msg, mavlink_small_imu_t* small_imu)
{
#if MAVLINK_NEED_BYTE_SWAP
        small_imu->time_boot_us = mavlink_msg_small_imu_get_time_boot_us(msg);
        small_imu->xacc = mavlink_msg_small_imu_get_xacc(msg);
        small_imu->yacc = mavlink_msg_small_imu_get_yacc(msg);
        small_imu->zacc = mavlink_msg_small_imu_get_zacc(msg);
        small_imu->xgyro = mavlink_msg_small_imu_get_xgyro(msg);
        small_imu->ygyro = mavlink_msg_small_imu_get_ygyro(msg);
        small_imu->zgyro = mavlink_msg_small_imu_get_zgyro(msg);
        small_imu->temperature = mavlink_msg_small_imu_get_temperature(msg);
#else
        memcpy(small_imu, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SMALL_IMU_LEN);
#endif
}