Diff: MAVlink/include/ualberta/mavlink_msg_nav_filter_bias.h

Revision:

0:826c6171fc1b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MAVlink/include/ualberta/mavlink_msg_nav_filter_bias.h	Wed Jun 20 14:57:48 2012 +0000
@@ -0,0 +1,242 @@
+// MESSAGE NAV_FILTER_BIAS PACKING
+
+#define MAVLINK_MSG_ID_NAV_FILTER_BIAS 220
+
+typedef struct __mavlink_nav_filter_bias_t 
+{
+	uint64_t usec; ///< Timestamp (microseconds)
+	float accel_0; ///< b_f[0]
+	float accel_1; ///< b_f[1]
+	float accel_2; ///< b_f[2]
+	float gyro_0; ///< b_f[0]
+	float gyro_1; ///< b_f[1]
+	float gyro_2; ///< b_f[2]
+
+} mavlink_nav_filter_bias_t;
+
+
+
+/**
+ * @brief Pack a nav_filter_bias 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 usec Timestamp (microseconds)
+ * @param accel_0 b_f[0]
+ * @param accel_1 b_f[1]
+ * @param accel_2 b_f[2]
+ * @param gyro_0 b_f[0]
+ * @param gyro_1 b_f[1]
+ * @param gyro_2 b_f[2]
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_nav_filter_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS;
+
+	i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds)
+	i += put_float_by_index(accel_0, i, msg->payload); // b_f[0]
+	i += put_float_by_index(accel_1, i, msg->payload); // b_f[1]
+	i += put_float_by_index(accel_2, i, msg->payload); // b_f[2]
+	i += put_float_by_index(gyro_0, i, msg->payload); // b_f[0]
+	i += put_float_by_index(gyro_1, i, msg->payload); // b_f[1]
+	i += put_float_by_index(gyro_2, i, msg->payload); // b_f[2]
+
+	return mavlink_finalize_message(msg, system_id, component_id, i);
+}
+
+/**
+ * @brief Pack a nav_filter_bias 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 usec Timestamp (microseconds)
+ * @param accel_0 b_f[0]
+ * @param accel_1 b_f[1]
+ * @param accel_2 b_f[2]
+ * @param gyro_0 b_f[0]
+ * @param gyro_1 b_f[1]
+ * @param gyro_2 b_f[2]
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_nav_filter_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2)
+{
+	uint16_t i = 0;
+	msg->msgid = MAVLINK_MSG_ID_NAV_FILTER_BIAS;
+
+	i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds)
+	i += put_float_by_index(accel_0, i, msg->payload); // b_f[0]
+	i += put_float_by_index(accel_1, i, msg->payload); // b_f[1]
+	i += put_float_by_index(accel_2, i, msg->payload); // b_f[2]
+	i += put_float_by_index(gyro_0, i, msg->payload); // b_f[0]
+	i += put_float_by_index(gyro_1, i, msg->payload); // b_f[1]
+	i += put_float_by_index(gyro_2, i, msg->payload); // b_f[2]
+
+	return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
+}
+
+/**
+ * @brief Encode a nav_filter_bias 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 nav_filter_bias C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_nav_filter_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_nav_filter_bias_t* nav_filter_bias)
+{
+	return mavlink_msg_nav_filter_bias_pack(system_id, component_id, msg, nav_filter_bias->usec, nav_filter_bias->accel_0, nav_filter_bias->accel_1, nav_filter_bias->accel_2, nav_filter_bias->gyro_0, nav_filter_bias->gyro_1, nav_filter_bias->gyro_2);
+}
+
+/**
+ * @brief Send a nav_filter_bias message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param usec Timestamp (microseconds)
+ * @param accel_0 b_f[0]
+ * @param accel_1 b_f[1]
+ * @param accel_2 b_f[2]
+ * @param gyro_0 b_f[0]
+ * @param gyro_1 b_f[1]
+ * @param gyro_2 b_f[2]
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_nav_filter_bias_send(mavlink_channel_t chan, uint64_t usec, float accel_0, float accel_1, float accel_2, float gyro_0, float gyro_1, float gyro_2)
+{
+	mavlink_message_t msg;
+	mavlink_msg_nav_filter_bias_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, accel_0, accel_1, accel_2, gyro_0, gyro_1, gyro_2);
+	mavlink_send_uart(chan, &msg);
+}
+
+#endif
+// MESSAGE NAV_FILTER_BIAS UNPACKING
+
+/**
+ * @brief Get field usec from nav_filter_bias message
+ *
+ * @return Timestamp (microseconds)
+ */
+static inline uint64_t mavlink_msg_nav_filter_bias_get_usec(const mavlink_message_t* msg)
+{
+	generic_64bit r;
+	r.b[7] = (msg->payload)[0];
+	r.b[6] = (msg->payload)[1];
+	r.b[5] = (msg->payload)[2];
+	r.b[4] = (msg->payload)[3];
+	r.b[3] = (msg->payload)[4];
+	r.b[2] = (msg->payload)[5];
+	r.b[1] = (msg->payload)[6];
+	r.b[0] = (msg->payload)[7];
+	return (uint64_t)r.ll;
+}
+
+/**
+ * @brief Get field accel_0 from nav_filter_bias message
+ *
+ * @return b_f[0]
+ */
+static inline float mavlink_msg_nav_filter_bias_get_accel_0(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field accel_1 from nav_filter_bias message
+ *
+ * @return b_f[1]
+ */
+static inline float mavlink_msg_nav_filter_bias_get_accel_1(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field accel_2 from nav_filter_bias message
+ *
+ * @return b_f[2]
+ */
+static inline float mavlink_msg_nav_filter_bias_get_accel_2(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field gyro_0 from nav_filter_bias message
+ *
+ * @return b_f[0]
+ */
+static inline float mavlink_msg_nav_filter_bias_get_gyro_0(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field gyro_1 from nav_filter_bias message
+ *
+ * @return b_f[1]
+ */
+static inline float mavlink_msg_nav_filter_bias_get_gyro_1(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Get field gyro_2 from nav_filter_bias message
+ *
+ * @return b_f[2]
+ */
+static inline float mavlink_msg_nav_filter_bias_get_gyro_2(const mavlink_message_t* msg)
+{
+	generic_32bit r;
+	r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
+	r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
+	r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
+	r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
+	return (float)r.f;
+}
+
+/**
+ * @brief Decode a nav_filter_bias message into a struct
+ *
+ * @param msg The message to decode
+ * @param nav_filter_bias C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_nav_filter_bias_decode(const mavlink_message_t* msg, mavlink_nav_filter_bias_t* nav_filter_bias)
+{
+	nav_filter_bias->usec = mavlink_msg_nav_filter_bias_get_usec(msg);
+	nav_filter_bias->accel_0 = mavlink_msg_nav_filter_bias_get_accel_0(msg);
+	nav_filter_bias->accel_1 = mavlink_msg_nav_filter_bias_get_accel_1(msg);
+	nav_filter_bias->accel_2 = mavlink_msg_nav_filter_bias_get_accel_2(msg);
+	nav_filter_bias->gyro_0 = mavlink_msg_nav_filter_bias_get_gyro_0(msg);
+	nav_filter_bias->gyro_1 = mavlink_msg_nav_filter_bias_get_gyro_1(msg);
+	nav_filter_bias->gyro_2 = mavlink_msg_nav_filter_bias_get_gyro_2(msg);
+}