Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

MAVlink/include/common/mavlink_msg_full_state.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 // MESSAGE FULL_STATE PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_FULL_STATE 67
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_full_state_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 8 float roll; ///< Roll angle (rad)
shimniok 0:826c6171fc1b 9 float pitch; ///< Pitch angle (rad)
shimniok 0:826c6171fc1b 10 float yaw; ///< Yaw angle (rad)
shimniok 0:826c6171fc1b 11 float rollspeed; ///< Roll angular speed (rad/s)
shimniok 0:826c6171fc1b 12 float pitchspeed; ///< Pitch angular speed (rad/s)
shimniok 0:826c6171fc1b 13 float yawspeed; ///< Yaw angular speed (rad/s)
shimniok 0:826c6171fc1b 14 int32_t lat; ///< Latitude, expressed as * 1E7
shimniok 0:826c6171fc1b 15 int32_t lon; ///< Longitude, expressed as * 1E7
shimniok 0:826c6171fc1b 16 int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:826c6171fc1b 17 int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 18 int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 19 int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 20 int16_t xacc; ///< X acceleration (mg)
shimniok 0:826c6171fc1b 21 int16_t yacc; ///< Y acceleration (mg)
shimniok 0:826c6171fc1b 22 int16_t zacc; ///< Z acceleration (mg)
shimniok 0:826c6171fc1b 23
shimniok 0:826c6171fc1b 24 } mavlink_full_state_t;
shimniok 0:826c6171fc1b 25
shimniok 0:826c6171fc1b 26
shimniok 0:826c6171fc1b 27
shimniok 0:826c6171fc1b 28 /**
shimniok 0:826c6171fc1b 29 * @brief Pack a full_state message
shimniok 0:826c6171fc1b 30 * @param system_id ID of this system
shimniok 0:826c6171fc1b 31 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 32 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 33 *
shimniok 0:826c6171fc1b 34 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 35 * @param roll Roll angle (rad)
shimniok 0:826c6171fc1b 36 * @param pitch Pitch angle (rad)
shimniok 0:826c6171fc1b 37 * @param yaw Yaw angle (rad)
shimniok 0:826c6171fc1b 38 * @param rollspeed Roll angular speed (rad/s)
shimniok 0:826c6171fc1b 39 * @param pitchspeed Pitch angular speed (rad/s)
shimniok 0:826c6171fc1b 40 * @param yawspeed Yaw angular speed (rad/s)
shimniok 0:826c6171fc1b 41 * @param lat Latitude, expressed as * 1E7
shimniok 0:826c6171fc1b 42 * @param lon Longitude, expressed as * 1E7
shimniok 0:826c6171fc1b 43 * @param alt Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:826c6171fc1b 44 * @param vx Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 45 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 46 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 47 * @param xacc X acceleration (mg)
shimniok 0:826c6171fc1b 48 * @param yacc Y acceleration (mg)
shimniok 0:826c6171fc1b 49 * @param zacc Z acceleration (mg)
shimniok 0:826c6171fc1b 50 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 51 */
shimniok 0:826c6171fc1b 52 static inline uint16_t mavlink_msg_full_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t 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)
shimniok 0:826c6171fc1b 53 {
shimniok 0:826c6171fc1b 54 uint16_t i = 0;
shimniok 0:826c6171fc1b 55 msg->msgid = MAVLINK_MSG_ID_FULL_STATE;
shimniok 0:826c6171fc1b 56
shimniok 0:826c6171fc1b 57 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 58 i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad)
shimniok 0:826c6171fc1b 59 i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad)
shimniok 0:826c6171fc1b 60 i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad)
shimniok 0:826c6171fc1b 61 i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
shimniok 0:826c6171fc1b 62 i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
shimniok 0:826c6171fc1b 63 i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
shimniok 0:826c6171fc1b 64 i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
shimniok 0:826c6171fc1b 65 i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
shimniok 0:826c6171fc1b 66 i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:826c6171fc1b 67 i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 68 i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 69 i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 70 i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
shimniok 0:826c6171fc1b 71 i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
shimniok 0:826c6171fc1b 72 i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
shimniok 0:826c6171fc1b 73
shimniok 0:826c6171fc1b 74 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 75 }
shimniok 0:826c6171fc1b 76
shimniok 0:826c6171fc1b 77 /**
shimniok 0:826c6171fc1b 78 * @brief Pack a full_state message
shimniok 0:826c6171fc1b 79 * @param system_id ID of this system
shimniok 0:826c6171fc1b 80 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 81 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 82 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 83 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 84 * @param roll Roll angle (rad)
shimniok 0:826c6171fc1b 85 * @param pitch Pitch angle (rad)
shimniok 0:826c6171fc1b 86 * @param yaw Yaw angle (rad)
shimniok 0:826c6171fc1b 87 * @param rollspeed Roll angular speed (rad/s)
shimniok 0:826c6171fc1b 88 * @param pitchspeed Pitch angular speed (rad/s)
shimniok 0:826c6171fc1b 89 * @param yawspeed Yaw angular speed (rad/s)
shimniok 0:826c6171fc1b 90 * @param lat Latitude, expressed as * 1E7
shimniok 0:826c6171fc1b 91 * @param lon Longitude, expressed as * 1E7
shimniok 0:826c6171fc1b 92 * @param alt Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:826c6171fc1b 93 * @param vx Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 94 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 95 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 96 * @param xacc X acceleration (mg)
shimniok 0:826c6171fc1b 97 * @param yacc Y acceleration (mg)
shimniok 0:826c6171fc1b 98 * @param zacc Z acceleration (mg)
shimniok 0:826c6171fc1b 99 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 100 */
shimniok 0:826c6171fc1b 101 static inline uint16_t mavlink_msg_full_state_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t 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)
shimniok 0:826c6171fc1b 102 {
shimniok 0:826c6171fc1b 103 uint16_t i = 0;
shimniok 0:826c6171fc1b 104 msg->msgid = MAVLINK_MSG_ID_FULL_STATE;
shimniok 0:826c6171fc1b 105
shimniok 0:826c6171fc1b 106 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 107 i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad)
shimniok 0:826c6171fc1b 108 i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad)
shimniok 0:826c6171fc1b 109 i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad)
shimniok 0:826c6171fc1b 110 i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s)
shimniok 0:826c6171fc1b 111 i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s)
shimniok 0:826c6171fc1b 112 i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s)
shimniok 0:826c6171fc1b 113 i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7
shimniok 0:826c6171fc1b 114 i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7
shimniok 0:826c6171fc1b 115 i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:826c6171fc1b 116 i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 117 i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 118 i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 119 i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg)
shimniok 0:826c6171fc1b 120 i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg)
shimniok 0:826c6171fc1b 121 i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg)
shimniok 0:826c6171fc1b 122
shimniok 0:826c6171fc1b 123 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 124 }
shimniok 0:826c6171fc1b 125
shimniok 0:826c6171fc1b 126 /**
shimniok 0:826c6171fc1b 127 * @brief Encode a full_state struct into a message
shimniok 0:826c6171fc1b 128 *
shimniok 0:826c6171fc1b 129 * @param system_id ID of this system
shimniok 0:826c6171fc1b 130 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 131 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 132 * @param full_state C-struct to read the message contents from
shimniok 0:826c6171fc1b 133 */
shimniok 0:826c6171fc1b 134 static inline uint16_t mavlink_msg_full_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_full_state_t* full_state)
shimniok 0:826c6171fc1b 135 {
shimniok 0:826c6171fc1b 136 return mavlink_msg_full_state_pack(system_id, component_id, msg, full_state->usec, full_state->roll, full_state->pitch, full_state->yaw, full_state->rollspeed, full_state->pitchspeed, full_state->yawspeed, full_state->lat, full_state->lon, full_state->alt, full_state->vx, full_state->vy, full_state->vz, full_state->xacc, full_state->yacc, full_state->zacc);
shimniok 0:826c6171fc1b 137 }
shimniok 0:826c6171fc1b 138
shimniok 0:826c6171fc1b 139 /**
shimniok 0:826c6171fc1b 140 * @brief Send a full_state message
shimniok 0:826c6171fc1b 141 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 142 *
shimniok 0:826c6171fc1b 143 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 144 * @param roll Roll angle (rad)
shimniok 0:826c6171fc1b 145 * @param pitch Pitch angle (rad)
shimniok 0:826c6171fc1b 146 * @param yaw Yaw angle (rad)
shimniok 0:826c6171fc1b 147 * @param rollspeed Roll angular speed (rad/s)
shimniok 0:826c6171fc1b 148 * @param pitchspeed Pitch angular speed (rad/s)
shimniok 0:826c6171fc1b 149 * @param yawspeed Yaw angular speed (rad/s)
shimniok 0:826c6171fc1b 150 * @param lat Latitude, expressed as * 1E7
shimniok 0:826c6171fc1b 151 * @param lon Longitude, expressed as * 1E7
shimniok 0:826c6171fc1b 152 * @param alt Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:826c6171fc1b 153 * @param vx Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 154 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 155 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 156 * @param xacc X acceleration (mg)
shimniok 0:826c6171fc1b 157 * @param yacc Y acceleration (mg)
shimniok 0:826c6171fc1b 158 * @param zacc Z acceleration (mg)
shimniok 0:826c6171fc1b 159 */
shimniok 0:826c6171fc1b 160 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 161
shimniok 0:826c6171fc1b 162 static inline void mavlink_msg_full_state_send(mavlink_channel_t chan, uint64_t 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)
shimniok 0:826c6171fc1b 163 {
shimniok 0:826c6171fc1b 164 mavlink_message_t msg;
shimniok 0:826c6171fc1b 165 mavlink_msg_full_state_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc);
shimniok 0:826c6171fc1b 166 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 167 }
shimniok 0:826c6171fc1b 168
shimniok 0:826c6171fc1b 169 #endif
shimniok 0:826c6171fc1b 170 // MESSAGE FULL_STATE UNPACKING
shimniok 0:826c6171fc1b 171
shimniok 0:826c6171fc1b 172 /**
shimniok 0:826c6171fc1b 173 * @brief Get field usec from full_state message
shimniok 0:826c6171fc1b 174 *
shimniok 0:826c6171fc1b 175 * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
shimniok 0:826c6171fc1b 176 */
shimniok 0:826c6171fc1b 177 static inline uint64_t mavlink_msg_full_state_get_usec(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 178 {
shimniok 0:826c6171fc1b 179 generic_64bit r;
shimniok 0:826c6171fc1b 180 r.b[7] = (msg->payload)[0];
shimniok 0:826c6171fc1b 181 r.b[6] = (msg->payload)[1];
shimniok 0:826c6171fc1b 182 r.b[5] = (msg->payload)[2];
shimniok 0:826c6171fc1b 183 r.b[4] = (msg->payload)[3];
shimniok 0:826c6171fc1b 184 r.b[3] = (msg->payload)[4];
shimniok 0:826c6171fc1b 185 r.b[2] = (msg->payload)[5];
shimniok 0:826c6171fc1b 186 r.b[1] = (msg->payload)[6];
shimniok 0:826c6171fc1b 187 r.b[0] = (msg->payload)[7];
shimniok 0:826c6171fc1b 188 return (uint64_t)r.ll;
shimniok 0:826c6171fc1b 189 }
shimniok 0:826c6171fc1b 190
shimniok 0:826c6171fc1b 191 /**
shimniok 0:826c6171fc1b 192 * @brief Get field roll from full_state message
shimniok 0:826c6171fc1b 193 *
shimniok 0:826c6171fc1b 194 * @return Roll angle (rad)
shimniok 0:826c6171fc1b 195 */
shimniok 0:826c6171fc1b 196 static inline float mavlink_msg_full_state_get_roll(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 197 {
shimniok 0:826c6171fc1b 198 generic_32bit r;
shimniok 0:826c6171fc1b 199 r.b[3] = (msg->payload+sizeof(uint64_t))[0];
shimniok 0:826c6171fc1b 200 r.b[2] = (msg->payload+sizeof(uint64_t))[1];
shimniok 0:826c6171fc1b 201 r.b[1] = (msg->payload+sizeof(uint64_t))[2];
shimniok 0:826c6171fc1b 202 r.b[0] = (msg->payload+sizeof(uint64_t))[3];
shimniok 0:826c6171fc1b 203 return (float)r.f;
shimniok 0:826c6171fc1b 204 }
shimniok 0:826c6171fc1b 205
shimniok 0:826c6171fc1b 206 /**
shimniok 0:826c6171fc1b 207 * @brief Get field pitch from full_state message
shimniok 0:826c6171fc1b 208 *
shimniok 0:826c6171fc1b 209 * @return Pitch angle (rad)
shimniok 0:826c6171fc1b 210 */
shimniok 0:826c6171fc1b 211 static inline float mavlink_msg_full_state_get_pitch(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 212 {
shimniok 0:826c6171fc1b 213 generic_32bit r;
shimniok 0:826c6171fc1b 214 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
shimniok 0:826c6171fc1b 215 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
shimniok 0:826c6171fc1b 216 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
shimniok 0:826c6171fc1b 217 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
shimniok 0:826c6171fc1b 218 return (float)r.f;
shimniok 0:826c6171fc1b 219 }
shimniok 0:826c6171fc1b 220
shimniok 0:826c6171fc1b 221 /**
shimniok 0:826c6171fc1b 222 * @brief Get field yaw from full_state message
shimniok 0:826c6171fc1b 223 *
shimniok 0:826c6171fc1b 224 * @return Yaw angle (rad)
shimniok 0:826c6171fc1b 225 */
shimniok 0:826c6171fc1b 226 static inline float mavlink_msg_full_state_get_yaw(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 227 {
shimniok 0:826c6171fc1b 228 generic_32bit r;
shimniok 0:826c6171fc1b 229 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 230 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 231 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 232 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 233 return (float)r.f;
shimniok 0:826c6171fc1b 234 }
shimniok 0:826c6171fc1b 235
shimniok 0:826c6171fc1b 236 /**
shimniok 0:826c6171fc1b 237 * @brief Get field rollspeed from full_state message
shimniok 0:826c6171fc1b 238 *
shimniok 0:826c6171fc1b 239 * @return Roll angular speed (rad/s)
shimniok 0:826c6171fc1b 240 */
shimniok 0:826c6171fc1b 241 static inline float mavlink_msg_full_state_get_rollspeed(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 242 {
shimniok 0:826c6171fc1b 243 generic_32bit r;
shimniok 0:826c6171fc1b 244 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 245 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 246 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 247 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 248 return (float)r.f;
shimniok 0:826c6171fc1b 249 }
shimniok 0:826c6171fc1b 250
shimniok 0:826c6171fc1b 251 /**
shimniok 0:826c6171fc1b 252 * @brief Get field pitchspeed from full_state message
shimniok 0:826c6171fc1b 253 *
shimniok 0:826c6171fc1b 254 * @return Pitch angular speed (rad/s)
shimniok 0:826c6171fc1b 255 */
shimniok 0:826c6171fc1b 256 static inline float mavlink_msg_full_state_get_pitchspeed(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 257 {
shimniok 0:826c6171fc1b 258 generic_32bit r;
shimniok 0:826c6171fc1b 259 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 260 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 261 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 262 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 263 return (float)r.f;
shimniok 0:826c6171fc1b 264 }
shimniok 0:826c6171fc1b 265
shimniok 0:826c6171fc1b 266 /**
shimniok 0:826c6171fc1b 267 * @brief Get field yawspeed from full_state message
shimniok 0:826c6171fc1b 268 *
shimniok 0:826c6171fc1b 269 * @return Yaw angular speed (rad/s)
shimniok 0:826c6171fc1b 270 */
shimniok 0:826c6171fc1b 271 static inline float mavlink_msg_full_state_get_yawspeed(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 272 {
shimniok 0:826c6171fc1b 273 generic_32bit r;
shimniok 0:826c6171fc1b 274 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 275 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 276 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 277 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 278 return (float)r.f;
shimniok 0:826c6171fc1b 279 }
shimniok 0:826c6171fc1b 280
shimniok 0:826c6171fc1b 281 /**
shimniok 0:826c6171fc1b 282 * @brief Get field lat from full_state message
shimniok 0:826c6171fc1b 283 *
shimniok 0:826c6171fc1b 284 * @return Latitude, expressed as * 1E7
shimniok 0:826c6171fc1b 285 */
shimniok 0:826c6171fc1b 286 static inline int32_t mavlink_msg_full_state_get_lat(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 287 {
shimniok 0:826c6171fc1b 288 generic_32bit r;
shimniok 0:826c6171fc1b 289 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 290 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 291 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 292 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 293 return (int32_t)r.i;
shimniok 0:826c6171fc1b 294 }
shimniok 0:826c6171fc1b 295
shimniok 0:826c6171fc1b 296 /**
shimniok 0:826c6171fc1b 297 * @brief Get field lon from full_state message
shimniok 0:826c6171fc1b 298 *
shimniok 0:826c6171fc1b 299 * @return Longitude, expressed as * 1E7
shimniok 0:826c6171fc1b 300 */
shimniok 0:826c6171fc1b 301 static inline int32_t mavlink_msg_full_state_get_lon(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 302 {
shimniok 0:826c6171fc1b 303 generic_32bit r;
shimniok 0:826c6171fc1b 304 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[0];
shimniok 0:826c6171fc1b 305 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[1];
shimniok 0:826c6171fc1b 306 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[2];
shimniok 0:826c6171fc1b 307 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[3];
shimniok 0:826c6171fc1b 308 return (int32_t)r.i;
shimniok 0:826c6171fc1b 309 }
shimniok 0:826c6171fc1b 310
shimniok 0:826c6171fc1b 311 /**
shimniok 0:826c6171fc1b 312 * @brief Get field alt from full_state message
shimniok 0:826c6171fc1b 313 *
shimniok 0:826c6171fc1b 314 * @return Altitude in meters, expressed as * 1000 (millimeters)
shimniok 0:826c6171fc1b 315 */
shimniok 0:826c6171fc1b 316 static inline int32_t mavlink_msg_full_state_get_alt(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 317 {
shimniok 0:826c6171fc1b 318 generic_32bit r;
shimniok 0:826c6171fc1b 319 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0];
shimniok 0:826c6171fc1b 320 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1];
shimniok 0:826c6171fc1b 321 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2];
shimniok 0:826c6171fc1b 322 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3];
shimniok 0:826c6171fc1b 323 return (int32_t)r.i;
shimniok 0:826c6171fc1b 324 }
shimniok 0:826c6171fc1b 325
shimniok 0:826c6171fc1b 326 /**
shimniok 0:826c6171fc1b 327 * @brief Get field vx from full_state message
shimniok 0:826c6171fc1b 328 *
shimniok 0:826c6171fc1b 329 * @return Ground X Speed (Latitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 330 */
shimniok 0:826c6171fc1b 331 static inline int16_t mavlink_msg_full_state_get_vx(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 332 {
shimniok 0:826c6171fc1b 333 generic_16bit r;
shimniok 0:826c6171fc1b 334 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[0];
shimniok 0:826c6171fc1b 335 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t))[1];
shimniok 0:826c6171fc1b 336 return (int16_t)r.s;
shimniok 0:826c6171fc1b 337 }
shimniok 0:826c6171fc1b 338
shimniok 0:826c6171fc1b 339 /**
shimniok 0:826c6171fc1b 340 * @brief Get field vy from full_state message
shimniok 0:826c6171fc1b 341 *
shimniok 0:826c6171fc1b 342 * @return Ground Y Speed (Longitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 343 */
shimniok 0:826c6171fc1b 344 static inline int16_t mavlink_msg_full_state_get_vy(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 345 {
shimniok 0:826c6171fc1b 346 generic_16bit r;
shimniok 0:826c6171fc1b 347 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 348 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 349 return (int16_t)r.s;
shimniok 0:826c6171fc1b 350 }
shimniok 0:826c6171fc1b 351
shimniok 0:826c6171fc1b 352 /**
shimniok 0:826c6171fc1b 353 * @brief Get field vz from full_state message
shimniok 0:826c6171fc1b 354 *
shimniok 0:826c6171fc1b 355 * @return Ground Z Speed (Altitude), expressed as m/s * 100
shimniok 0:826c6171fc1b 356 */
shimniok 0:826c6171fc1b 357 static inline int16_t mavlink_msg_full_state_get_vz(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 358 {
shimniok 0:826c6171fc1b 359 generic_16bit r;
shimniok 0:826c6171fc1b 360 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 361 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 362 return (int16_t)r.s;
shimniok 0:826c6171fc1b 363 }
shimniok 0:826c6171fc1b 364
shimniok 0:826c6171fc1b 365 /**
shimniok 0:826c6171fc1b 366 * @brief Get field xacc from full_state message
shimniok 0:826c6171fc1b 367 *
shimniok 0:826c6171fc1b 368 * @return X acceleration (mg)
shimniok 0:826c6171fc1b 369 */
shimniok 0:826c6171fc1b 370 static inline int16_t mavlink_msg_full_state_get_xacc(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 371 {
shimniok 0:826c6171fc1b 372 generic_16bit r;
shimniok 0:826c6171fc1b 373 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 374 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 375 return (int16_t)r.s;
shimniok 0:826c6171fc1b 376 }
shimniok 0:826c6171fc1b 377
shimniok 0:826c6171fc1b 378 /**
shimniok 0:826c6171fc1b 379 * @brief Get field yacc from full_state message
shimniok 0:826c6171fc1b 380 *
shimniok 0:826c6171fc1b 381 * @return Y acceleration (mg)
shimniok 0:826c6171fc1b 382 */
shimniok 0:826c6171fc1b 383 static inline int16_t mavlink_msg_full_state_get_yacc(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 384 {
shimniok 0:826c6171fc1b 385 generic_16bit r;
shimniok 0:826c6171fc1b 386 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 387 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 388 return (int16_t)r.s;
shimniok 0:826c6171fc1b 389 }
shimniok 0:826c6171fc1b 390
shimniok 0:826c6171fc1b 391 /**
shimniok 0:826c6171fc1b 392 * @brief Get field zacc from full_state message
shimniok 0:826c6171fc1b 393 *
shimniok 0:826c6171fc1b 394 * @return Z acceleration (mg)
shimniok 0:826c6171fc1b 395 */
shimniok 0:826c6171fc1b 396 static inline int16_t mavlink_msg_full_state_get_zacc(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 397 {
shimniok 0:826c6171fc1b 398 generic_16bit r;
shimniok 0:826c6171fc1b 399 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
shimniok 0:826c6171fc1b 400 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int32_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
shimniok 0:826c6171fc1b 401 return (int16_t)r.s;
shimniok 0:826c6171fc1b 402 }
shimniok 0:826c6171fc1b 403
shimniok 0:826c6171fc1b 404 /**
shimniok 0:826c6171fc1b 405 * @brief Decode a full_state message into a struct
shimniok 0:826c6171fc1b 406 *
shimniok 0:826c6171fc1b 407 * @param msg The message to decode
shimniok 0:826c6171fc1b 408 * @param full_state C-struct to decode the message contents into
shimniok 0:826c6171fc1b 409 */
shimniok 0:826c6171fc1b 410 static inline void mavlink_msg_full_state_decode(const mavlink_message_t* msg, mavlink_full_state_t* full_state)
shimniok 0:826c6171fc1b 411 {
shimniok 0:826c6171fc1b 412 full_state->usec = mavlink_msg_full_state_get_usec(msg);
shimniok 0:826c6171fc1b 413 full_state->roll = mavlink_msg_full_state_get_roll(msg);
shimniok 0:826c6171fc1b 414 full_state->pitch = mavlink_msg_full_state_get_pitch(msg);
shimniok 0:826c6171fc1b 415 full_state->yaw = mavlink_msg_full_state_get_yaw(msg);
shimniok 0:826c6171fc1b 416 full_state->rollspeed = mavlink_msg_full_state_get_rollspeed(msg);
shimniok 0:826c6171fc1b 417 full_state->pitchspeed = mavlink_msg_full_state_get_pitchspeed(msg);
shimniok 0:826c6171fc1b 418 full_state->yawspeed = mavlink_msg_full_state_get_yawspeed(msg);
shimniok 0:826c6171fc1b 419 full_state->lat = mavlink_msg_full_state_get_lat(msg);
shimniok 0:826c6171fc1b 420 full_state->lon = mavlink_msg_full_state_get_lon(msg);
shimniok 0:826c6171fc1b 421 full_state->alt = mavlink_msg_full_state_get_alt(msg);
shimniok 0:826c6171fc1b 422 full_state->vx = mavlink_msg_full_state_get_vx(msg);
shimniok 0:826c6171fc1b 423 full_state->vy = mavlink_msg_full_state_get_vy(msg);
shimniok 0:826c6171fc1b 424 full_state->vz = mavlink_msg_full_state_get_vz(msg);
shimniok 0:826c6171fc1b 425 full_state->xacc = mavlink_msg_full_state_get_xacc(msg);
shimniok 0:826c6171fc1b 426 full_state->yacc = mavlink_msg_full_state_get_yacc(msg);
shimniok 0:826c6171fc1b 427 full_state->zacc = mavlink_msg_full_state_get_zacc(msg);
shimniok 0:826c6171fc1b 428 }