dji_sdk_dji2mav: mavlink_msg_attitude_quaternion.h Source File

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00001 // MESSAGE ATTITUDE_QUATERNION PACKING
00002 
00003 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31
00004 
00005 typedef struct __mavlink_attitude_quaternion_t
00006 {
00007  uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
00008  float q1; /*< Quaternion component 1, w (1 in null-rotation)*/
00009  float q2; /*< Quaternion component 2, x (0 in null-rotation)*/
00010  float q3; /*< Quaternion component 3, y (0 in null-rotation)*/
00011  float q4; /*< Quaternion component 4, z (0 in null-rotation)*/
00012  float rollspeed; /*< Roll angular speed (rad/s)*/
00013  float pitchspeed; /*< Pitch angular speed (rad/s)*/
00014  float yawspeed; /*< Yaw angular speed (rad/s)*/
00015 } mavlink_attitude_quaternion_t;
00016 
00017 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
00018 #define MAVLINK_MSG_ID_31_LEN 32
00019 
00020 #define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC 246
00021 #define MAVLINK_MSG_ID_31_CRC 246
00022 
00023 
00024 
00025 #define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
00026         "ATTITUDE_QUATERNION", \
00027         8, \
00028         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
00029          { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
00030          { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
00031          { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
00032          { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
00033          { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
00034          { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
00035          { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
00036          } \
00037 }
00038 
00039 
00056 static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
00057                                                        uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
00058 {
00059 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00060         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
00061         _mav_put_uint32_t(buf, 0, time_boot_ms);
00062         _mav_put_float(buf, 4, q1);
00063         _mav_put_float(buf, 8, q2);
00064         _mav_put_float(buf, 12, q3);
00065         _mav_put_float(buf, 16, q4);
00066         _mav_put_float(buf, 20, rollspeed);
00067         _mav_put_float(buf, 24, pitchspeed);
00068         _mav_put_float(buf, 28, yawspeed);
00069 
00070         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00071 #else
00072         mavlink_attitude_quaternion_t packet;
00073         packet.time_boot_ms = time_boot_ms;
00074         packet.q1 = q1;
00075         packet.q2 = q2;
00076         packet.q3 = q3;
00077         packet.q4 = q4;
00078         packet.rollspeed = rollspeed;
00079         packet.pitchspeed = pitchspeed;
00080         packet.yawspeed = yawspeed;
00081 
00082         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00083 #endif
00084 
00085         msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
00086 #if MAVLINK_CRC_EXTRA
00087     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
00088 #else
00089     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00090 #endif
00091 }
00092 
00109 static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
00110                                                            mavlink_message_t* msg,
00111                                                            uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed)
00112 {
00113 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00114         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
00115         _mav_put_uint32_t(buf, 0, time_boot_ms);
00116         _mav_put_float(buf, 4, q1);
00117         _mav_put_float(buf, 8, q2);
00118         _mav_put_float(buf, 12, q3);
00119         _mav_put_float(buf, 16, q4);
00120         _mav_put_float(buf, 20, rollspeed);
00121         _mav_put_float(buf, 24, pitchspeed);
00122         _mav_put_float(buf, 28, yawspeed);
00123 
00124         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00125 #else
00126         mavlink_attitude_quaternion_t packet;
00127         packet.time_boot_ms = time_boot_ms;
00128         packet.q1 = q1;
00129         packet.q2 = q2;
00130         packet.q3 = q3;
00131         packet.q4 = q4;
00132         packet.rollspeed = rollspeed;
00133         packet.pitchspeed = pitchspeed;
00134         packet.yawspeed = yawspeed;
00135 
00136         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00137 #endif
00138 
00139         msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
00140 #if MAVLINK_CRC_EXTRA
00141     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
00142 #else
00143     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00144 #endif
00145 }
00146 
00155 static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
00156 {
00157         return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
00158 }
00159 
00169 static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
00170 {
00171         return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
00172 }
00173 
00187 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00188 
00189 static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
00190 {
00191 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00192         char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
00193         _mav_put_uint32_t(buf, 0, time_boot_ms);
00194         _mav_put_float(buf, 4, q1);
00195         _mav_put_float(buf, 8, q2);
00196         _mav_put_float(buf, 12, q3);
00197         _mav_put_float(buf, 16, q4);
00198         _mav_put_float(buf, 20, rollspeed);
00199         _mav_put_float(buf, 24, pitchspeed);
00200         _mav_put_float(buf, 28, yawspeed);
00201 
00202 #if MAVLINK_CRC_EXTRA
00203     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
00204 #else
00205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00206 #endif
00207 #else
00208         mavlink_attitude_quaternion_t packet;
00209         packet.time_boot_ms = time_boot_ms;
00210         packet.q1 = q1;
00211         packet.q2 = q2;
00212         packet.q3 = q3;
00213         packet.q4 = q4;
00214         packet.rollspeed = rollspeed;
00215         packet.pitchspeed = pitchspeed;
00216         packet.yawspeed = yawspeed;
00217 
00218 #if MAVLINK_CRC_EXTRA
00219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
00220 #else
00221     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00222 #endif
00223 #endif
00224 }
00225 
00226 #if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
00227 /*
00228   This varient of _send() can be used to save stack space by re-using
00229   memory from the receive buffer.  The caller provides a
00230   mavlink_message_t which is the size of a full mavlink message. This
00231   is usually the receive buffer for the channel, and allows a reply to an
00232   incoming message with minimum stack space usage.
00233  */
00234 static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
00235 {
00236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00237         char *buf = (char *)msgbuf;
00238         _mav_put_uint32_t(buf, 0, time_boot_ms);
00239         _mav_put_float(buf, 4, q1);
00240         _mav_put_float(buf, 8, q2);
00241         _mav_put_float(buf, 12, q3);
00242         _mav_put_float(buf, 16, q4);
00243         _mav_put_float(buf, 20, rollspeed);
00244         _mav_put_float(buf, 24, pitchspeed);
00245         _mav_put_float(buf, 28, yawspeed);
00246 
00247 #if MAVLINK_CRC_EXTRA
00248     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
00249 #else
00250     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00251 #endif
00252 #else
00253         mavlink_attitude_quaternion_t *packet = (mavlink_attitude_quaternion_t *)msgbuf;
00254         packet->time_boot_ms = time_boot_ms;
00255         packet->q1 = q1;
00256         packet->q2 = q2;
00257         packet->q3 = q3;
00258         packet->q4 = q4;
00259         packet->rollspeed = rollspeed;
00260         packet->pitchspeed = pitchspeed;
00261         packet->yawspeed = yawspeed;
00262 
00263 #if MAVLINK_CRC_EXTRA
00264     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
00265 #else
00266     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00267 #endif
00268 #endif
00269 }
00270 #endif
00271 
00272 #endif
00273 
00274 // MESSAGE ATTITUDE_QUATERNION UNPACKING
00275 
00276 
00282 static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg)
00283 {
00284         return _MAV_RETURN_uint32_t(msg,  0);
00285 }
00286 
00292 static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg)
00293 {
00294         return _MAV_RETURN_float(msg,  4);
00295 }
00296 
00302 static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg)
00303 {
00304         return _MAV_RETURN_float(msg,  8);
00305 }
00306 
00312 static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg)
00313 {
00314         return _MAV_RETURN_float(msg,  12);
00315 }
00316 
00322 static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg)
00323 {
00324         return _MAV_RETURN_float(msg,  16);
00325 }
00326 
00332 static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg)
00333 {
00334         return _MAV_RETURN_float(msg,  20);
00335 }
00336 
00342 static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg)
00343 {
00344         return _MAV_RETURN_float(msg,  24);
00345 }
00346 
00352 static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg)
00353 {
00354         return _MAV_RETURN_float(msg,  28);
00355 }
00356 
00363 static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion)
00364 {
00365 #if MAVLINK_NEED_BYTE_SWAP
00366         attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
00367         attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
00368         attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
00369         attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
00370         attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
00371         attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
00372         attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
00373         attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
00374 #else
00375         memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
00376 #endif
00377 }