00001
00002
00003 #define MAVLINK_MSG_ID_ATTITUDE 30
00004
00005 typedef struct __mavlink_attitude_t
00006 {
00007 uint32_t time_boot_ms;
00008 float roll;
00009 float pitch;
00010 float yaw;
00011 float rollspeed;
00012 float pitchspeed;
00013 float yawspeed;
00014 } mavlink_attitude_t;
00015
00016 #define MAVLINK_MSG_ID_ATTITUDE_LEN 28
00017 #define MAVLINK_MSG_ID_30_LEN 28
00018
00019 #define MAVLINK_MSG_ID_ATTITUDE_CRC 39
00020 #define MAVLINK_MSG_ID_30_CRC 39
00021
00022
00023
00024 #define MAVLINK_MESSAGE_INFO_ATTITUDE { \
00025 "ATTITUDE", \
00026 7, \
00027 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
00028 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
00029 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
00030 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
00031 { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
00032 { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
00033 { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
00034 } \
00035 }
00036
00037
00053 static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
00054 uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
00055 {
00056 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00057 char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
00058 _mav_put_uint32_t(buf, 0, time_boot_ms);
00059 _mav_put_float(buf, 4, roll);
00060 _mav_put_float(buf, 8, pitch);
00061 _mav_put_float(buf, 12, yaw);
00062 _mav_put_float(buf, 16, rollspeed);
00063 _mav_put_float(buf, 20, pitchspeed);
00064 _mav_put_float(buf, 24, yawspeed);
00065
00066 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
00067 #else
00068 mavlink_attitude_t packet;
00069 packet.time_boot_ms = time_boot_ms;
00070 packet.roll = roll;
00071 packet.pitch = pitch;
00072 packet.yaw = yaw;
00073 packet.rollspeed = rollspeed;
00074 packet.pitchspeed = pitchspeed;
00075 packet.yawspeed = yawspeed;
00076
00077 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
00078 #endif
00079
00080 msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
00081 #if MAVLINK_CRC_EXTRA
00082 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
00083 #else
00084 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN);
00085 #endif
00086 }
00087
00103 static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
00104 mavlink_message_t* msg,
00105 uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
00106 {
00107 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00108 char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
00109 _mav_put_uint32_t(buf, 0, time_boot_ms);
00110 _mav_put_float(buf, 4, roll);
00111 _mav_put_float(buf, 8, pitch);
00112 _mav_put_float(buf, 12, yaw);
00113 _mav_put_float(buf, 16, rollspeed);
00114 _mav_put_float(buf, 20, pitchspeed);
00115 _mav_put_float(buf, 24, yawspeed);
00116
00117 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
00118 #else
00119 mavlink_attitude_t packet;
00120 packet.time_boot_ms = time_boot_ms;
00121 packet.roll = roll;
00122 packet.pitch = pitch;
00123 packet.yaw = yaw;
00124 packet.rollspeed = rollspeed;
00125 packet.pitchspeed = pitchspeed;
00126 packet.yawspeed = yawspeed;
00127
00128 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
00129 #endif
00130
00131 msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
00132 #if MAVLINK_CRC_EXTRA
00133 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
00134 #else
00135 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN);
00136 #endif
00137 }
00138
00147 static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
00148 {
00149 return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
00150 }
00151
00161 static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
00162 {
00163 return mavlink_msg_attitude_pack_chan(system_id, component_id, chan, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
00164 }
00165
00178 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00179
00180 static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
00181 {
00182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00183 char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
00184 _mav_put_uint32_t(buf, 0, time_boot_ms);
00185 _mav_put_float(buf, 4, roll);
00186 _mav_put_float(buf, 8, pitch);
00187 _mav_put_float(buf, 12, yaw);
00188 _mav_put_float(buf, 16, rollspeed);
00189 _mav_put_float(buf, 20, pitchspeed);
00190 _mav_put_float(buf, 24, yawspeed);
00191
00192 #if MAVLINK_CRC_EXTRA
00193 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
00194 #else
00195 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
00196 #endif
00197 #else
00198 mavlink_attitude_t packet;
00199 packet.time_boot_ms = time_boot_ms;
00200 packet.roll = roll;
00201 packet.pitch = pitch;
00202 packet.yaw = yaw;
00203 packet.rollspeed = rollspeed;
00204 packet.pitchspeed = pitchspeed;
00205 packet.yawspeed = yawspeed;
00206
00207 #if MAVLINK_CRC_EXTRA
00208 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
00209 #else
00210 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
00211 #endif
00212 #endif
00213 }
00214
00215 #if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
00216
00217
00218
00219
00220
00221
00222
00223 static inline void mavlink_msg_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
00224 {
00225 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00226 char *buf = (char *)msgbuf;
00227 _mav_put_uint32_t(buf, 0, time_boot_ms);
00228 _mav_put_float(buf, 4, roll);
00229 _mav_put_float(buf, 8, pitch);
00230 _mav_put_float(buf, 12, yaw);
00231 _mav_put_float(buf, 16, rollspeed);
00232 _mav_put_float(buf, 20, pitchspeed);
00233 _mav_put_float(buf, 24, yawspeed);
00234
00235 #if MAVLINK_CRC_EXTRA
00236 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
00237 #else
00238 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
00239 #endif
00240 #else
00241 mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
00242 packet->time_boot_ms = time_boot_ms;
00243 packet->roll = roll;
00244 packet->pitch = pitch;
00245 packet->yaw = yaw;
00246 packet->rollspeed = rollspeed;
00247 packet->pitchspeed = pitchspeed;
00248 packet->yawspeed = yawspeed;
00249
00250 #if MAVLINK_CRC_EXTRA
00251 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
00252 #else
00253 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
00254 #endif
00255 #endif
00256 }
00257 #endif
00258
00259 #endif
00260
00261
00262
00263
00269 static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
00270 {
00271 return _MAV_RETURN_uint32_t(msg, 0);
00272 }
00273
00279 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
00280 {
00281 return _MAV_RETURN_float(msg, 4);
00282 }
00283
00289 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
00290 {
00291 return _MAV_RETURN_float(msg, 8);
00292 }
00293
00299 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
00300 {
00301 return _MAV_RETURN_float(msg, 12);
00302 }
00303
00309 static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
00310 {
00311 return _MAV_RETURN_float(msg, 16);
00312 }
00313
00319 static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
00320 {
00321 return _MAV_RETURN_float(msg, 20);
00322 }
00323
00329 static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
00330 {
00331 return _MAV_RETURN_float(msg, 24);
00332 }
00333
00340 static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
00341 {
00342 #if MAVLINK_NEED_BYTE_SWAP
00343 attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
00344 attitude->roll = mavlink_msg_attitude_get_roll(msg);
00345 attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
00346 attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
00347 attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
00348 attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
00349 attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
00350 #else
00351 memcpy(attitude, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_LEN);
00352 #endif
00353 }