Diff: MAVlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/ardupilotmega/mavlink_msg_sensor_offsets.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,342 @@
+// MESSAGE SENSOR_OFFSETS PACKING
+
+#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150
+
+typedef struct __mavlink_sensor_offsets_t 
+{
+	int16_t mag_ofs_x; ///< magnetometer X offset
+	int16_t mag_ofs_y; ///< magnetometer Y offset
+	int16_t mag_ofs_z; ///< magnetometer Z offset
+	float mag_declination; ///< magnetic declination (radians)
+	int32_t raw_press; ///< raw pressure from barometer
+	int32_t raw_temp; ///< raw temperature from barometer
+	float gyro_cal_x; ///< gyro X calibration
+	float gyro_cal_y; ///< gyro Y calibration
+	float gyro_cal_z; ///< gyro Z calibration
+	float accel_cal_x; ///< accel X calibration
+	float accel_cal_y; ///< accel Y calibration
+	float accel_cal_z; ///< accel Z calibration
+
+} mavlink_sensor_offsets_t;
+
+
+
+/**
+ * @brief Pack a sensor_offsets message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ *
+ * @param mag_ofs_x magnetometer X offset
+ * @param mag_ofs_y magnetometer Y offset
+ * @param mag_ofs_z magnetometer Z offset
+ * @param mag_declination magnetic declination (radians)
+ * @param raw_press raw pressure from barometer
+ * @param raw_temp raw temperature from barometer
+ * @param gyro_cal_x gyro X calibration
+ * @param gyro_cal_y gyro Y calibration
+ * @param gyro_cal_z gyro Z calibration
+ * @param accel_cal_x accel X calibration
+ * @param accel_cal_y accel Y calibration
+ * @param accel_cal_z accel Z calibration
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
+
+	i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
+	i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
+	i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
+	i += put_float_by_index(mag_declination, i, msg->payload); // magnetic declination (radians)
+	i += put_int32_t_by_index(raw_press, i, msg->payload); // raw pressure from barometer
+	i += put_int32_t_by_index(raw_temp, i, msg->payload); // raw temperature from barometer
+	i += put_float_by_index(gyro_cal_x, i, msg->payload); // gyro X calibration
+	i += put_float_by_index(gyro_cal_y, i, msg->payload); // gyro Y calibration
+	i += put_float_by_index(gyro_cal_z, i, msg->payload); // gyro Z calibration
+	i += put_float_by_index(accel_cal_x, i, msg->payload); // accel X calibration
+	i += put_float_by_index(accel_cal_y, i, msg->payload); // accel Y calibration
+	i += put_float_by_index(accel_cal_z, i, msg->payload); // accel Z calibration
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a sensor_offsets message
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param chan The MAVLink channel this message was sent over
+ * @param msg The MAVLink message to compress the data into
+ * @param mag_ofs_x magnetometer X offset
+ * @param mag_ofs_y magnetometer Y offset
+ * @param mag_ofs_z magnetometer Z offset
+ * @param mag_declination magnetic declination (radians)
+ * @param raw_press raw pressure from barometer
+ * @param raw_temp raw temperature from barometer
+ * @param gyro_cal_x gyro X calibration
+ * @param gyro_cal_y gyro Y calibration
+ * @param gyro_cal_z gyro Z calibration
+ * @param accel_cal_x accel X calibration
+ * @param accel_cal_y accel Y calibration
+ * @param accel_cal_z accel Z calibration
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
+
+	i += put_int16_t_by_index(mag_ofs_x, i, msg->payload); // magnetometer X offset
+	i += put_int16_t_by_index(mag_ofs_y, i, msg->payload); // magnetometer Y offset
+	i += put_int16_t_by_index(mag_ofs_z, i, msg->payload); // magnetometer Z offset
+	i += put_float_by_index(mag_declination, i, msg->payload); // magnetic declination (radians)
+	i += put_int32_t_by_index(raw_press, i, msg->payload); // raw pressure from barometer
+	i += put_int32_t_by_index(raw_temp, i, msg->payload); // raw temperature from barometer
+	i += put_float_by_index(gyro_cal_x, i, msg->payload); // gyro X calibration
+	i += put_float_by_index(gyro_cal_y, i, msg->payload); // gyro Y calibration
+	i += put_float_by_index(gyro_cal_z, i, msg->payload); // gyro Z calibration
+	i += put_float_by_index(accel_cal_x, i, msg->payload); // accel X calibration
+	i += put_float_by_index(accel_cal_y, i, msg->payload); // accel Y calibration
+	i += put_float_by_index(accel_cal_z, i, msg->payload); // accel Z calibration
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a sensor_offsets struct into a message
+ *
+ * @param system_id ID of this system
+ * @param component_id ID of this component (e.g. 200 for IMU)
+ * @param msg The MAVLink message to compress the data into
+ * @param sensor_offsets C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
+{
+	return mavlink_msg_sensor_offsets_pack(system_id, component_id, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
+}
+
+/**
+ * @brief Send a sensor_offsets message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param mag_ofs_x magnetometer X offset
+ * @param mag_ofs_y magnetometer Y offset
+ * @param mag_ofs_z magnetometer Z offset
+ * @param mag_declination magnetic declination (radians)
+ * @param raw_press raw pressure from barometer
+ * @param raw_temp raw temperature from barometer
+ * @param gyro_cal_x gyro X calibration
+ * @param gyro_cal_y gyro Y calibration
+ * @param gyro_cal_z gyro Z calibration
+ * @param accel_cal_x accel X calibration
+ * @param accel_cal_y accel Y calibration
+ * @param accel_cal_z accel Z calibration
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
+{
+	mavlink_message_t msg;
+	mavlink_msg_sensor_offsets_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, mag_ofs_x, mag_ofs_y, mag_ofs_z, mag_declination, raw_press, raw_temp, gyro_cal_x, gyro_cal_y, gyro_cal_z, accel_cal_x, accel_cal_y, accel_cal_z);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE SENSOR_OFFSETS UNPACKING
+
+/**
+ * @brief Get field mag_ofs_x from sensor_offsets message
+ *
+ * @return magnetometer X offset
+ */
+static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload)[0];
+	r.b[0] = (msg->payload)[1];
+	return (int16_t)r.s;
+}
+
+/**
+ * @brief Get field mag_ofs_y from sensor_offsets message
+ *
+ * @return magnetometer Y offset
+ */
+static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(int16_t))[0];
+	r.b[0] = (msg->payload+sizeof(int16_t))[1];
+	return (int16_t)r.s;
+}
+
+/**
+ * @brief Get field mag_ofs_z from sensor_offsets message
+ *
+ * @return magnetometer Z offset
+ */
+static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
+{
+	generic_16bit r;
+	r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[0];
+	r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t))[1];
+	return (int16_t)r.s;
+}
+
+/**
+ * @brief Get field mag_declination from sensor_offsets message
+ *
+ * @return magnetic declination (radians)
+ */
+static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[0];
+	r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[1];
+	r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[2];
+	r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field raw_press from sensor_offsets message
+ *
+ * @return raw pressure from barometer
+ */
+static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float))[3];
+	return (int32_t)r.i;
+}
+
+/**
+ * @brief Get field raw_temp from sensor_offsets message
+ *
+ * @return raw temperature from barometer
+ */
+static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[0];
+	r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[1];
+	r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[2];
+	r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t))[3];
+	return (int32_t)r.i;
+}
+
+/**
+ * @brief Get field gyro_cal_x from sensor_offsets message
+ *
+ * @return gyro X calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[0];
+	r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[1];
+	r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[2];
+	r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field gyro_cal_y from sensor_offsets message
+ *
+ * @return gyro Y calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field gyro_cal_z from sensor_offsets message
+ *
+ * @return gyro Z calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field accel_cal_x from sensor_offsets message
+ *
+ * @return accel X calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field accel_cal_y from sensor_offsets message
+ *
+ * @return accel Y calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field accel_cal_z from sensor_offsets message
+ *
+ * @return accel Z calibration
+ */
+static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(int16_t)+sizeof(int16_t)+sizeof(int16_t)+sizeof(float)+sizeof(int32_t)+sizeof(int32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Decode a sensor_offsets message into a struct
+ *
+ * @param msg The message to decode
+ * @param sensor_offsets C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets)
+{
+	sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg);
+	sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg);
+	sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg);
+	sensor_offsets->mag_declination = mavlink_msg_sensor_offsets_get_mag_declination(msg);
+	sensor_offsets->raw_press = mavlink_msg_sensor_offsets_get_raw_press(msg);
+	sensor_offsets->raw_temp = mavlink_msg_sensor_offsets_get_raw_temp(msg);
+	sensor_offsets->gyro_cal_x = mavlink_msg_sensor_offsets_get_gyro_cal_x(msg);
+	sensor_offsets->gyro_cal_y = mavlink_msg_sensor_offsets_get_gyro_cal_y(msg);
+	sensor_offsets->gyro_cal_z = mavlink_msg_sensor_offsets_get_gyro_cal_z(msg);
+	sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg);
+	sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg);
+	sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg);
+}