Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
mavlink_msg_full_state.h
00001 // MESSAGE FULL_STATE PACKING 00002 00003 #define MAVLINK_MSG_ID_FULL_STATE 67 00004 00005 typedef struct __mavlink_full_state_t 00006 { 00007 uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00008 float roll; ///< Roll angle (rad) 00009 float pitch; ///< Pitch angle (rad) 00010 float yaw; ///< Yaw angle (rad) 00011 float rollspeed; ///< Roll angular speed (rad/s) 00012 float pitchspeed; ///< Pitch angular speed (rad/s) 00013 float yawspeed; ///< Yaw angular speed (rad/s) 00014 int32_t lat; ///< Latitude, expressed as * 1E7 00015 int32_t lon; ///< Longitude, expressed as * 1E7 00016 int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters) 00017 int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100 00018 int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100 00019 int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100 00020 int16_t xacc; ///< X acceleration (mg) 00021 int16_t yacc; ///< Y acceleration (mg) 00022 int16_t zacc; ///< Z acceleration (mg) 00023 00024 } mavlink_full_state_t; 00025 00026 00027 00028 /** 00029 * @brief Pack a full_state message 00030 * @param system_id ID of this system 00031 * @param component_id ID of this component (e.g. 200 for IMU) 00032 * @param msg The MAVLink message to compress the data into 00033 * 00034 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00035 * @param roll Roll angle (rad) 00036 * @param pitch Pitch angle (rad) 00037 * @param yaw Yaw angle (rad) 00038 * @param rollspeed Roll angular speed (rad/s) 00039 * @param pitchspeed Pitch angular speed (rad/s) 00040 * @param yawspeed Yaw angular speed (rad/s) 00041 * @param lat Latitude, expressed as * 1E7 00042 * @param lon Longitude, expressed as * 1E7 00043 * @param alt Altitude in meters, expressed as * 1000 (millimeters) 00044 * @param vx Ground X Speed (Latitude), expressed as m/s * 100 00045 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 00046 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 00047 * @param xacc X acceleration (mg) 00048 * @param yacc Y acceleration (mg) 00049 * @param zacc Z acceleration (mg) 00050 * @return length of the message in bytes (excluding serial stream start sign) 00051 */ 00052 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) 00053 { 00054 uint16_t i = 0; 00055 msg->msgid = MAVLINK_MSG_ID_FULL_STATE; 00056 00057 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00058 i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) 00059 i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) 00060 i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) 00061 i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) 00062 i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) 00063 i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) 00064 i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 00065 i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 00066 i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) 00067 i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 00068 i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 00069 i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 00070 i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) 00071 i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) 00072 i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) 00073 00074 return mavlink_finalize_message(msg, system_id, component_id, i); 00075 } 00076 00077 /** 00078 * @brief Pack a full_state message 00079 * @param system_id ID of this system 00080 * @param component_id ID of this component (e.g. 200 for IMU) 00081 * @param chan The MAVLink channel this message was sent over 00082 * @param msg The MAVLink message to compress the data into 00083 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00084 * @param roll Roll angle (rad) 00085 * @param pitch Pitch angle (rad) 00086 * @param yaw Yaw angle (rad) 00087 * @param rollspeed Roll angular speed (rad/s) 00088 * @param pitchspeed Pitch angular speed (rad/s) 00089 * @param yawspeed Yaw angular speed (rad/s) 00090 * @param lat Latitude, expressed as * 1E7 00091 * @param lon Longitude, expressed as * 1E7 00092 * @param alt Altitude in meters, expressed as * 1000 (millimeters) 00093 * @param vx Ground X Speed (Latitude), expressed as m/s * 100 00094 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 00095 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 00096 * @param xacc X acceleration (mg) 00097 * @param yacc Y acceleration (mg) 00098 * @param zacc Z acceleration (mg) 00099 * @return length of the message in bytes (excluding serial stream start sign) 00100 */ 00101 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) 00102 { 00103 uint16_t i = 0; 00104 msg->msgid = MAVLINK_MSG_ID_FULL_STATE; 00105 00106 i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00107 i += put_float_by_index(roll, i, msg->payload); // Roll angle (rad) 00108 i += put_float_by_index(pitch, i, msg->payload); // Pitch angle (rad) 00109 i += put_float_by_index(yaw, i, msg->payload); // Yaw angle (rad) 00110 i += put_float_by_index(rollspeed, i, msg->payload); // Roll angular speed (rad/s) 00111 i += put_float_by_index(pitchspeed, i, msg->payload); // Pitch angular speed (rad/s) 00112 i += put_float_by_index(yawspeed, i, msg->payload); // Yaw angular speed (rad/s) 00113 i += put_int32_t_by_index(lat, i, msg->payload); // Latitude, expressed as * 1E7 00114 i += put_int32_t_by_index(lon, i, msg->payload); // Longitude, expressed as * 1E7 00115 i += put_int32_t_by_index(alt, i, msg->payload); // Altitude in meters, expressed as * 1000 (millimeters) 00116 i += put_int16_t_by_index(vx, i, msg->payload); // Ground X Speed (Latitude), expressed as m/s * 100 00117 i += put_int16_t_by_index(vy, i, msg->payload); // Ground Y Speed (Longitude), expressed as m/s * 100 00118 i += put_int16_t_by_index(vz, i, msg->payload); // Ground Z Speed (Altitude), expressed as m/s * 100 00119 i += put_int16_t_by_index(xacc, i, msg->payload); // X acceleration (mg) 00120 i += put_int16_t_by_index(yacc, i, msg->payload); // Y acceleration (mg) 00121 i += put_int16_t_by_index(zacc, i, msg->payload); // Z acceleration (mg) 00122 00123 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); 00124 } 00125 00126 /** 00127 * @brief Encode a full_state struct into a message 00128 * 00129 * @param system_id ID of this system 00130 * @param component_id ID of this component (e.g. 200 for IMU) 00131 * @param msg The MAVLink message to compress the data into 00132 * @param full_state C-struct to read the message contents from 00133 */ 00134 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) 00135 { 00136 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); 00137 } 00138 00139 /** 00140 * @brief Send a full_state message 00141 * @param chan MAVLink channel to send the message 00142 * 00143 * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00144 * @param roll Roll angle (rad) 00145 * @param pitch Pitch angle (rad) 00146 * @param yaw Yaw angle (rad) 00147 * @param rollspeed Roll angular speed (rad/s) 00148 * @param pitchspeed Pitch angular speed (rad/s) 00149 * @param yawspeed Yaw angular speed (rad/s) 00150 * @param lat Latitude, expressed as * 1E7 00151 * @param lon Longitude, expressed as * 1E7 00152 * @param alt Altitude in meters, expressed as * 1000 (millimeters) 00153 * @param vx Ground X Speed (Latitude), expressed as m/s * 100 00154 * @param vy Ground Y Speed (Longitude), expressed as m/s * 100 00155 * @param vz Ground Z Speed (Altitude), expressed as m/s * 100 00156 * @param xacc X acceleration (mg) 00157 * @param yacc Y acceleration (mg) 00158 * @param zacc Z acceleration (mg) 00159 */ 00160 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 00161 00162 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) 00163 { 00164 mavlink_message_t msg; 00165 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); 00166 mavlink_send_uart(chan, &msg); 00167 } 00168 00169 #endif 00170 // MESSAGE FULL_STATE UNPACKING 00171 00172 /** 00173 * @brief Get field usec from full_state message 00174 * 00175 * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) 00176 */ 00177 static inline uint64_t mavlink_msg_full_state_get_usec(const mavlink_message_t* msg) 00178 { 00179 generic_64bit r; 00180 r.b[7] = (msg->payload)[0]; 00181 r.b[6] = (msg->payload)[1]; 00182 r.b[5] = (msg->payload)[2]; 00183 r.b[4] = (msg->payload)[3]; 00184 r.b[3] = (msg->payload)[4]; 00185 r.b[2] = (msg->payload)[5]; 00186 r.b[1] = (msg->payload)[6]; 00187 r.b[0] = (msg->payload)[7]; 00188 return (uint64_t)r.ll; 00189 } 00190 00191 /** 00192 * @brief Get field roll from full_state message 00193 * 00194 * @return Roll angle (rad) 00195 */ 00196 static inline float mavlink_msg_full_state_get_roll(const mavlink_message_t* msg) 00197 { 00198 generic_32bit r; 00199 r.b[3] = (msg->payload+sizeof(uint64_t))[0]; 00200 r.b[2] = (msg->payload+sizeof(uint64_t))[1]; 00201 r.b[1] = (msg->payload+sizeof(uint64_t))[2]; 00202 r.b[0] = (msg->payload+sizeof(uint64_t))[3]; 00203 return (float)r.f; 00204 } 00205 00206 /** 00207 * @brief Get field pitch from full_state message 00208 * 00209 * @return Pitch angle (rad) 00210 */ 00211 static inline float mavlink_msg_full_state_get_pitch(const mavlink_message_t* msg) 00212 { 00213 generic_32bit r; 00214 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; 00215 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; 00216 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; 00217 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; 00218 return (float)r.f; 00219 } 00220 00221 /** 00222 * @brief Get field yaw from full_state message 00223 * 00224 * @return Yaw angle (rad) 00225 */ 00226 static inline float mavlink_msg_full_state_get_yaw(const mavlink_message_t* msg) 00227 { 00228 generic_32bit r; 00229 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; 00230 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; 00231 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; 00232 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; 00233 return (float)r.f; 00234 } 00235 00236 /** 00237 * @brief Get field rollspeed from full_state message 00238 * 00239 * @return Roll angular speed (rad/s) 00240 */ 00241 static inline float mavlink_msg_full_state_get_rollspeed(const mavlink_message_t* msg) 00242 { 00243 generic_32bit r; 00244 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00245 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00246 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00247 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00248 return (float)r.f; 00249 } 00250 00251 /** 00252 * @brief Get field pitchspeed from full_state message 00253 * 00254 * @return Pitch angular speed (rad/s) 00255 */ 00256 static inline float mavlink_msg_full_state_get_pitchspeed(const mavlink_message_t* msg) 00257 { 00258 generic_32bit r; 00259 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00260 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00261 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00262 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00263 return (float)r.f; 00264 } 00265 00266 /** 00267 * @brief Get field yawspeed from full_state message 00268 * 00269 * @return Yaw angular speed (rad/s) 00270 */ 00271 static inline float mavlink_msg_full_state_get_yawspeed(const mavlink_message_t* msg) 00272 { 00273 generic_32bit r; 00274 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00275 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00276 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00277 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00278 return (float)r.f; 00279 } 00280 00281 /** 00282 * @brief Get field lat from full_state message 00283 * 00284 * @return Latitude, expressed as * 1E7 00285 */ 00286 static inline int32_t mavlink_msg_full_state_get_lat(const mavlink_message_t* msg) 00287 { 00288 generic_32bit r; 00289 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; 00290 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; 00291 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; 00292 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; 00293 return (int32_t)r.i; 00294 } 00295 00296 /** 00297 * @brief Get field lon from full_state message 00298 * 00299 * @return Longitude, expressed as * 1E7 00300 */ 00301 static inline int32_t mavlink_msg_full_state_get_lon(const mavlink_message_t* msg) 00302 { 00303 generic_32bit r; 00304 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[0]; 00305 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[1]; 00306 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[2]; 00307 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(int32_t))[3]; 00308 return (int32_t)r.i; 00309 } 00310 00311 /** 00312 * @brief Get field alt from full_state message 00313 * 00314 * @return Altitude in meters, expressed as * 1000 (millimeters) 00315 */ 00316 static inline int32_t mavlink_msg_full_state_get_alt(const mavlink_message_t* msg) 00317 { 00318 generic_32bit r; 00319 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]; 00320 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]; 00321 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]; 00322 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]; 00323 return (int32_t)r.i; 00324 } 00325 00326 /** 00327 * @brief Get field vx from full_state message 00328 * 00329 * @return Ground X Speed (Latitude), expressed as m/s * 100 00330 */ 00331 static inline int16_t mavlink_msg_full_state_get_vx(const mavlink_message_t* msg) 00332 { 00333 generic_16bit r; 00334 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]; 00335 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]; 00336 return (int16_t)r.s; 00337 } 00338 00339 /** 00340 * @brief Get field vy from full_state message 00341 * 00342 * @return Ground Y Speed (Longitude), expressed as m/s * 100 00343 */ 00344 static inline int16_t mavlink_msg_full_state_get_vy(const mavlink_message_t* msg) 00345 { 00346 generic_16bit r; 00347 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]; 00348 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]; 00349 return (int16_t)r.s; 00350 } 00351 00352 /** 00353 * @brief Get field vz from full_state message 00354 * 00355 * @return Ground Z Speed (Altitude), expressed as m/s * 100 00356 */ 00357 static inline int16_t mavlink_msg_full_state_get_vz(const mavlink_message_t* msg) 00358 { 00359 generic_16bit r; 00360 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]; 00361 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]; 00362 return (int16_t)r.s; 00363 } 00364 00365 /** 00366 * @brief Get field xacc from full_state message 00367 * 00368 * @return X acceleration (mg) 00369 */ 00370 static inline int16_t mavlink_msg_full_state_get_xacc(const mavlink_message_t* msg) 00371 { 00372 generic_16bit r; 00373 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]; 00374 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]; 00375 return (int16_t)r.s; 00376 } 00377 00378 /** 00379 * @brief Get field yacc from full_state message 00380 * 00381 * @return Y acceleration (mg) 00382 */ 00383 static inline int16_t mavlink_msg_full_state_get_yacc(const mavlink_message_t* msg) 00384 { 00385 generic_16bit r; 00386 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]; 00387 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]; 00388 return (int16_t)r.s; 00389 } 00390 00391 /** 00392 * @brief Get field zacc from full_state message 00393 * 00394 * @return Z acceleration (mg) 00395 */ 00396 static inline int16_t mavlink_msg_full_state_get_zacc(const mavlink_message_t* msg) 00397 { 00398 generic_16bit r; 00399 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]; 00400 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]; 00401 return (int16_t)r.s; 00402 } 00403 00404 /** 00405 * @brief Decode a full_state message into a struct 00406 * 00407 * @param msg The message to decode 00408 * @param full_state C-struct to decode the message contents into 00409 */ 00410 static inline void mavlink_msg_full_state_decode(const mavlink_message_t* msg, mavlink_full_state_t* full_state) 00411 { 00412 full_state->usec = mavlink_msg_full_state_get_usec(msg); 00413 full_state->roll = mavlink_msg_full_state_get_roll(msg); 00414 full_state->pitch = mavlink_msg_full_state_get_pitch(msg); 00415 full_state->yaw = mavlink_msg_full_state_get_yaw(msg); 00416 full_state->rollspeed = mavlink_msg_full_state_get_rollspeed(msg); 00417 full_state->pitchspeed = mavlink_msg_full_state_get_pitchspeed(msg); 00418 full_state->yawspeed = mavlink_msg_full_state_get_yawspeed(msg); 00419 full_state->lat = mavlink_msg_full_state_get_lat(msg); 00420 full_state->lon = mavlink_msg_full_state_get_lon(msg); 00421 full_state->alt = mavlink_msg_full_state_get_alt(msg); 00422 full_state->vx = mavlink_msg_full_state_get_vx(msg); 00423 full_state->vy = mavlink_msg_full_state_get_vy(msg); 00424 full_state->vz = mavlink_msg_full_state_get_vz(msg); 00425 full_state->xacc = mavlink_msg_full_state_get_xacc(msg); 00426 full_state->yacc = mavlink_msg_full_state_get_yacc(msg); 00427 full_state->zacc = mavlink_msg_full_state_get_zacc(msg); 00428 }
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