00001
00002
00003 #define MAVLINK_MSG_ID_HIL_STATE 90
00004
00005 typedef struct __mavlink_hil_state_t
00006 {
00007 uint64_t time_usec;
00008 float roll;
00009 float pitch;
00010 float yaw;
00011 float rollspeed;
00012 float pitchspeed;
00013 float yawspeed;
00014 int32_t lat;
00015 int32_t lon;
00016 int32_t alt;
00017 int16_t vx;
00018 int16_t vy;
00019 int16_t vz;
00020 int16_t xacc;
00021 int16_t yacc;
00022 int16_t zacc;
00023 } mavlink_hil_state_t;
00024
00025 #define MAVLINK_MSG_ID_HIL_STATE_LEN 56
00026 #define MAVLINK_MSG_ID_90_LEN 56
00027
00028 #define MAVLINK_MSG_ID_HIL_STATE_CRC 183
00029 #define MAVLINK_MSG_ID_90_CRC 183
00030
00031
00032
00033 #define MAVLINK_MESSAGE_INFO_HIL_STATE { \
00034 "HIL_STATE", \
00035 16, \
00036 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_state_t, time_usec) }, \
00037 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_state_t, roll) }, \
00038 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_state_t, pitch) }, \
00039 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_state_t, yaw) }, \
00040 { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_state_t, rollspeed) }, \
00041 { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_state_t, pitchspeed) }, \
00042 { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_state_t, yawspeed) }, \
00043 { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 32, offsetof(mavlink_hil_state_t, lat) }, \
00044 { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 36, offsetof(mavlink_hil_state_t, lon) }, \
00045 { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 40, offsetof(mavlink_hil_state_t, alt) }, \
00046 { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 44, offsetof(mavlink_hil_state_t, vx) }, \
00047 { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 46, offsetof(mavlink_hil_state_t, vy) }, \
00048 { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 48, offsetof(mavlink_hil_state_t, vz) }, \
00049 { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 50, offsetof(mavlink_hil_state_t, xacc) }, \
00050 { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 52, offsetof(mavlink_hil_state_t, yacc) }, \
00051 { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 54, offsetof(mavlink_hil_state_t, zacc) }, \
00052 } \
00053 }
00054
00055
00080 static inline uint16_t mavlink_msg_hil_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
00081 uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
00082 {
00083 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00084 char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
00085 _mav_put_uint64_t(buf, 0, time_usec);
00086 _mav_put_float(buf, 8, roll);
00087 _mav_put_float(buf, 12, pitch);
00088 _mav_put_float(buf, 16, yaw);
00089 _mav_put_float(buf, 20, rollspeed);
00090 _mav_put_float(buf, 24, pitchspeed);
00091 _mav_put_float(buf, 28, yawspeed);
00092 _mav_put_int32_t(buf, 32, lat);
00093 _mav_put_int32_t(buf, 36, lon);
00094 _mav_put_int32_t(buf, 40, alt);
00095 _mav_put_int16_t(buf, 44, vx);
00096 _mav_put_int16_t(buf, 46, vy);
00097 _mav_put_int16_t(buf, 48, vz);
00098 _mav_put_int16_t(buf, 50, xacc);
00099 _mav_put_int16_t(buf, 52, yacc);
00100 _mav_put_int16_t(buf, 54, zacc);
00101
00102 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
00103 #else
00104 mavlink_hil_state_t packet;
00105 packet.time_usec = time_usec;
00106 packet.roll = roll;
00107 packet.pitch = pitch;
00108 packet.yaw = yaw;
00109 packet.rollspeed = rollspeed;
00110 packet.pitchspeed = pitchspeed;
00111 packet.yawspeed = yawspeed;
00112 packet.lat = lat;
00113 packet.lon = lon;
00114 packet.alt = alt;
00115 packet.vx = vx;
00116 packet.vy = vy;
00117 packet.vz = vz;
00118 packet.xacc = xacc;
00119 packet.yacc = yacc;
00120 packet.zacc = zacc;
00121
00122 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
00123 #endif
00124
00125 msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
00126 #if MAVLINK_CRC_EXTRA
00127 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
00128 #else
00129 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_STATE_LEN);
00130 #endif
00131 }
00132
00157 static inline uint16_t mavlink_msg_hil_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
00158 mavlink_message_t* msg,
00159 uint64_t time_usec,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed,int32_t lat,int32_t lon,int32_t alt,int16_t vx,int16_t vy,int16_t vz,int16_t xacc,int16_t yacc,int16_t zacc)
00160 {
00161 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00162 char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
00163 _mav_put_uint64_t(buf, 0, time_usec);
00164 _mav_put_float(buf, 8, roll);
00165 _mav_put_float(buf, 12, pitch);
00166 _mav_put_float(buf, 16, yaw);
00167 _mav_put_float(buf, 20, rollspeed);
00168 _mav_put_float(buf, 24, pitchspeed);
00169 _mav_put_float(buf, 28, yawspeed);
00170 _mav_put_int32_t(buf, 32, lat);
00171 _mav_put_int32_t(buf, 36, lon);
00172 _mav_put_int32_t(buf, 40, alt);
00173 _mav_put_int16_t(buf, 44, vx);
00174 _mav_put_int16_t(buf, 46, vy);
00175 _mav_put_int16_t(buf, 48, vz);
00176 _mav_put_int16_t(buf, 50, xacc);
00177 _mav_put_int16_t(buf, 52, yacc);
00178 _mav_put_int16_t(buf, 54, zacc);
00179
00180 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
00181 #else
00182 mavlink_hil_state_t packet;
00183 packet.time_usec = time_usec;
00184 packet.roll = roll;
00185 packet.pitch = pitch;
00186 packet.yaw = yaw;
00187 packet.rollspeed = rollspeed;
00188 packet.pitchspeed = pitchspeed;
00189 packet.yawspeed = yawspeed;
00190 packet.lat = lat;
00191 packet.lon = lon;
00192 packet.alt = alt;
00193 packet.vx = vx;
00194 packet.vy = vy;
00195 packet.vz = vz;
00196 packet.xacc = xacc;
00197 packet.yacc = yacc;
00198 packet.zacc = zacc;
00199
00200 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
00201 #endif
00202
00203 msg->msgid = MAVLINK_MSG_ID_HIL_STATE;
00204 #if MAVLINK_CRC_EXTRA
00205 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
00206 #else
00207 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_STATE_LEN);
00208 #endif
00209 }
00210
00219 static inline uint16_t mavlink_msg_hil_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
00220 {
00221 return mavlink_msg_hil_state_pack(system_id, component_id, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
00222 }
00223
00233 static inline uint16_t mavlink_msg_hil_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_state_t* hil_state)
00234 {
00235 return mavlink_msg_hil_state_pack_chan(system_id, component_id, chan, msg, hil_state->time_usec, hil_state->roll, hil_state->pitch, hil_state->yaw, hil_state->rollspeed, hil_state->pitchspeed, hil_state->yawspeed, hil_state->lat, hil_state->lon, hil_state->alt, hil_state->vx, hil_state->vy, hil_state->vz, hil_state->xacc, hil_state->yacc, hil_state->zacc);
00236 }
00237
00259 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00260
00261 static inline void mavlink_msg_hil_state_send(mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
00262 {
00263 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00264 char buf[MAVLINK_MSG_ID_HIL_STATE_LEN];
00265 _mav_put_uint64_t(buf, 0, time_usec);
00266 _mav_put_float(buf, 8, roll);
00267 _mav_put_float(buf, 12, pitch);
00268 _mav_put_float(buf, 16, yaw);
00269 _mav_put_float(buf, 20, rollspeed);
00270 _mav_put_float(buf, 24, pitchspeed);
00271 _mav_put_float(buf, 28, yawspeed);
00272 _mav_put_int32_t(buf, 32, lat);
00273 _mav_put_int32_t(buf, 36, lon);
00274 _mav_put_int32_t(buf, 40, alt);
00275 _mav_put_int16_t(buf, 44, vx);
00276 _mav_put_int16_t(buf, 46, vy);
00277 _mav_put_int16_t(buf, 48, vz);
00278 _mav_put_int16_t(buf, 50, xacc);
00279 _mav_put_int16_t(buf, 52, yacc);
00280 _mav_put_int16_t(buf, 54, zacc);
00281
00282 #if MAVLINK_CRC_EXTRA
00283 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
00284 #else
00285 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
00286 #endif
00287 #else
00288 mavlink_hil_state_t packet;
00289 packet.time_usec = time_usec;
00290 packet.roll = roll;
00291 packet.pitch = pitch;
00292 packet.yaw = yaw;
00293 packet.rollspeed = rollspeed;
00294 packet.pitchspeed = pitchspeed;
00295 packet.yawspeed = yawspeed;
00296 packet.lat = lat;
00297 packet.lon = lon;
00298 packet.alt = alt;
00299 packet.vx = vx;
00300 packet.vy = vy;
00301 packet.vz = vz;
00302 packet.xacc = xacc;
00303 packet.yacc = yacc;
00304 packet.zacc = zacc;
00305
00306 #if MAVLINK_CRC_EXTRA
00307 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
00308 #else
00309 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)&packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
00310 #endif
00311 #endif
00312 }
00313
00314 #if MAVLINK_MSG_ID_HIL_STATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
00315
00316
00317
00318
00319
00320
00321
00322 static inline void mavlink_msg_hil_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt, int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
00323 {
00324 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
00325 char *buf = (char *)msgbuf;
00326 _mav_put_uint64_t(buf, 0, time_usec);
00327 _mav_put_float(buf, 8, roll);
00328 _mav_put_float(buf, 12, pitch);
00329 _mav_put_float(buf, 16, yaw);
00330 _mav_put_float(buf, 20, rollspeed);
00331 _mav_put_float(buf, 24, pitchspeed);
00332 _mav_put_float(buf, 28, yawspeed);
00333 _mav_put_int32_t(buf, 32, lat);
00334 _mav_put_int32_t(buf, 36, lon);
00335 _mav_put_int32_t(buf, 40, alt);
00336 _mav_put_int16_t(buf, 44, vx);
00337 _mav_put_int16_t(buf, 46, vy);
00338 _mav_put_int16_t(buf, 48, vz);
00339 _mav_put_int16_t(buf, 50, xacc);
00340 _mav_put_int16_t(buf, 52, yacc);
00341 _mav_put_int16_t(buf, 54, zacc);
00342
00343 #if MAVLINK_CRC_EXTRA
00344 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
00345 #else
00346 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, buf, MAVLINK_MSG_ID_HIL_STATE_LEN);
00347 #endif
00348 #else
00349 mavlink_hil_state_t *packet = (mavlink_hil_state_t *)msgbuf;
00350 packet->time_usec = time_usec;
00351 packet->roll = roll;
00352 packet->pitch = pitch;
00353 packet->yaw = yaw;
00354 packet->rollspeed = rollspeed;
00355 packet->pitchspeed = pitchspeed;
00356 packet->yawspeed = yawspeed;
00357 packet->lat = lat;
00358 packet->lon = lon;
00359 packet->alt = alt;
00360 packet->vx = vx;
00361 packet->vy = vy;
00362 packet->vz = vz;
00363 packet->xacc = xacc;
00364 packet->yacc = yacc;
00365 packet->zacc = zacc;
00366
00367 #if MAVLINK_CRC_EXTRA
00368 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_LEN, MAVLINK_MSG_ID_HIL_STATE_CRC);
00369 #else
00370 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_STATE, (const char *)packet, MAVLINK_MSG_ID_HIL_STATE_LEN);
00371 #endif
00372 #endif
00373 }
00374 #endif
00375
00376 #endif
00377
00378
00379
00380
00386 static inline uint64_t mavlink_msg_hil_state_get_time_usec(const mavlink_message_t* msg)
00387 {
00388 return _MAV_RETURN_uint64_t(msg, 0);
00389 }
00390
00396 static inline float mavlink_msg_hil_state_get_roll(const mavlink_message_t* msg)
00397 {
00398 return _MAV_RETURN_float(msg, 8);
00399 }
00400
00406 static inline float mavlink_msg_hil_state_get_pitch(const mavlink_message_t* msg)
00407 {
00408 return _MAV_RETURN_float(msg, 12);
00409 }
00410
00416 static inline float mavlink_msg_hil_state_get_yaw(const mavlink_message_t* msg)
00417 {
00418 return _MAV_RETURN_float(msg, 16);
00419 }
00420
00426 static inline float mavlink_msg_hil_state_get_rollspeed(const mavlink_message_t* msg)
00427 {
00428 return _MAV_RETURN_float(msg, 20);
00429 }
00430
00436 static inline float mavlink_msg_hil_state_get_pitchspeed(const mavlink_message_t* msg)
00437 {
00438 return _MAV_RETURN_float(msg, 24);
00439 }
00440
00446 static inline float mavlink_msg_hil_state_get_yawspeed(const mavlink_message_t* msg)
00447 {
00448 return _MAV_RETURN_float(msg, 28);
00449 }
00450
00456 static inline int32_t mavlink_msg_hil_state_get_lat(const mavlink_message_t* msg)
00457 {
00458 return _MAV_RETURN_int32_t(msg, 32);
00459 }
00460
00466 static inline int32_t mavlink_msg_hil_state_get_lon(const mavlink_message_t* msg)
00467 {
00468 return _MAV_RETURN_int32_t(msg, 36);
00469 }
00470
00476 static inline int32_t mavlink_msg_hil_state_get_alt(const mavlink_message_t* msg)
00477 {
00478 return _MAV_RETURN_int32_t(msg, 40);
00479 }
00480
00486 static inline int16_t mavlink_msg_hil_state_get_vx(const mavlink_message_t* msg)
00487 {
00488 return _MAV_RETURN_int16_t(msg, 44);
00489 }
00490
00496 static inline int16_t mavlink_msg_hil_state_get_vy(const mavlink_message_t* msg)
00497 {
00498 return _MAV_RETURN_int16_t(msg, 46);
00499 }
00500
00506 static inline int16_t mavlink_msg_hil_state_get_vz(const mavlink_message_t* msg)
00507 {
00508 return _MAV_RETURN_int16_t(msg, 48);
00509 }
00510
00516 static inline int16_t mavlink_msg_hil_state_get_xacc(const mavlink_message_t* msg)
00517 {
00518 return _MAV_RETURN_int16_t(msg, 50);
00519 }
00520
00526 static inline int16_t mavlink_msg_hil_state_get_yacc(const mavlink_message_t* msg)
00527 {
00528 return _MAV_RETURN_int16_t(msg, 52);
00529 }
00530
00536 static inline int16_t mavlink_msg_hil_state_get_zacc(const mavlink_message_t* msg)
00537 {
00538 return _MAV_RETURN_int16_t(msg, 54);
00539 }
00540
00547 static inline void mavlink_msg_hil_state_decode(const mavlink_message_t* msg, mavlink_hil_state_t* hil_state)
00548 {
00549 #if MAVLINK_NEED_BYTE_SWAP
00550 hil_state->time_usec = mavlink_msg_hil_state_get_time_usec(msg);
00551 hil_state->roll = mavlink_msg_hil_state_get_roll(msg);
00552 hil_state->pitch = mavlink_msg_hil_state_get_pitch(msg);
00553 hil_state->yaw = mavlink_msg_hil_state_get_yaw(msg);
00554 hil_state->rollspeed = mavlink_msg_hil_state_get_rollspeed(msg);
00555 hil_state->pitchspeed = mavlink_msg_hil_state_get_pitchspeed(msg);
00556 hil_state->yawspeed = mavlink_msg_hil_state_get_yawspeed(msg);
00557 hil_state->lat = mavlink_msg_hil_state_get_lat(msg);
00558 hil_state->lon = mavlink_msg_hil_state_get_lon(msg);
00559 hil_state->alt = mavlink_msg_hil_state_get_alt(msg);
00560 hil_state->vx = mavlink_msg_hil_state_get_vx(msg);
00561 hil_state->vy = mavlink_msg_hil_state_get_vy(msg);
00562 hil_state->vz = mavlink_msg_hil_state_get_vz(msg);
00563 hil_state->xacc = mavlink_msg_hil_state_get_xacc(msg);
00564 hil_state->yacc = mavlink_msg_hil_state_get_yacc(msg);
00565 hil_state->zacc = mavlink_msg_hil_state_get_zacc(msg);
00566 #else
00567 memcpy(hil_state, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIL_STATE_LEN);
00568 #endif
00569 }