MAV'RIC
mavlink_msg_attitude.h
1 // MESSAGE ATTITUDE PACKING
2 
3 #define MAVLINK_MSG_ID_ATTITUDE 30
4 
5 typedef struct __mavlink_attitude_t
6 {
7  uint32_t time_boot_ms;
8  float roll;
9  float pitch;
10  float yaw;
11  float rollspeed;
12  float pitchspeed;
13  float yawspeed;
14 } mavlink_attitude_t;
15 
16 #define MAVLINK_MSG_ID_ATTITUDE_LEN 28
17 #define MAVLINK_MSG_ID_30_LEN 28
18 
19 #define MAVLINK_MSG_ID_ATTITUDE_CRC 39
20 #define MAVLINK_MSG_ID_30_CRC 39
21 
22 
23 
24 #define MAVLINK_MESSAGE_INFO_ATTITUDE { \
25  "ATTITUDE", \
26  7, \
27  { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
28  { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
29  { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
30  { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
31  { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
32  { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
33  { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
34  } \
35 }
36 
37 
53 static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
54  uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
55 {
56 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
57  char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
58  _mav_put_uint32_t(buf, 0, time_boot_ms);
59  _mav_put_float(buf, 4, roll);
60  _mav_put_float(buf, 8, pitch);
61  _mav_put_float(buf, 12, yaw);
62  _mav_put_float(buf, 16, rollspeed);
63  _mav_put_float(buf, 20, pitchspeed);
64  _mav_put_float(buf, 24, yawspeed);
65 
66  memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
67 #else
68  mavlink_attitude_t packet;
69  packet.time_boot_ms = time_boot_ms;
70  packet.roll = roll;
71  packet.pitch = pitch;
72  packet.yaw = yaw;
73  packet.rollspeed = rollspeed;
74  packet.pitchspeed = pitchspeed;
75  packet.yawspeed = yawspeed;
76 
77  memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
78 #endif
79 
80  msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
81 #if MAVLINK_CRC_EXTRA
82  return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
83 #else
84  return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_LEN);
85 #endif
86 }
87 
103 static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
104  mavlink_message_t* msg,
105  uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
106 {
107 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
108  char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
109  _mav_put_uint32_t(buf, 0, time_boot_ms);
110  _mav_put_float(buf, 4, roll);
111  _mav_put_float(buf, 8, pitch);
112  _mav_put_float(buf, 12, yaw);
113  _mav_put_float(buf, 16, rollspeed);
114  _mav_put_float(buf, 20, pitchspeed);
115  _mav_put_float(buf, 24, yawspeed);
116 
117  memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
118 #else
119  mavlink_attitude_t packet;
120  packet.time_boot_ms = time_boot_ms;
121  packet.roll = roll;
122  packet.pitch = pitch;
123  packet.yaw = yaw;
124  packet.rollspeed = rollspeed;
125  packet.pitchspeed = pitchspeed;
126  packet.yawspeed = yawspeed;
127 
128  memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
129 #endif
130 
131  msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
132 #if MAVLINK_CRC_EXTRA
133  return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
134 #else
135  return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_LEN);
136 #endif
137 }
138 
147 static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
148 {
149  return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
150 }
151 
161 static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
162 {
163  return mavlink_msg_attitude_pack_chan(system_id, component_id, chan, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
164 }
165 
178 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
179 
180 static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
181 {
182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
183  char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
184  _mav_put_uint32_t(buf, 0, time_boot_ms);
185  _mav_put_float(buf, 4, roll);
186  _mav_put_float(buf, 8, pitch);
187  _mav_put_float(buf, 12, yaw);
188  _mav_put_float(buf, 16, rollspeed);
189  _mav_put_float(buf, 20, pitchspeed);
190  _mav_put_float(buf, 24, yawspeed);
191 
192 #if MAVLINK_CRC_EXTRA
193  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
194 #else
195  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
196 #endif
197 #else
198  mavlink_attitude_t packet;
199  packet.time_boot_ms = time_boot_ms;
200  packet.roll = roll;
201  packet.pitch = pitch;
202  packet.yaw = yaw;
203  packet.rollspeed = rollspeed;
204  packet.pitchspeed = pitchspeed;
205  packet.yawspeed = yawspeed;
206 
207 #if MAVLINK_CRC_EXTRA
208  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
209 #else
210  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
211 #endif
212 #endif
213 }
214 
215 #if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
216 /*
217  This varient of _send() can be used to save stack space by re-using
218  memory from the receive buffer. The caller provides a
219  mavlink_message_t which is the size of a full mavlink message. This
220  is usually the receive buffer for the channel, and allows a reply to an
221  incoming message with minimum stack space usage.
222  */
223 static inline void mavlink_msg_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
224 {
225 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
226  char *buf = (char *)msgbuf;
227  _mav_put_uint32_t(buf, 0, time_boot_ms);
228  _mav_put_float(buf, 4, roll);
229  _mav_put_float(buf, 8, pitch);
230  _mav_put_float(buf, 12, yaw);
231  _mav_put_float(buf, 16, rollspeed);
232  _mav_put_float(buf, 20, pitchspeed);
233  _mav_put_float(buf, 24, yawspeed);
234 
235 #if MAVLINK_CRC_EXTRA
236  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
237 #else
238  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
239 #endif
240 #else
241  mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
242  packet->time_boot_ms = time_boot_ms;
243  packet->roll = roll;
244  packet->pitch = pitch;
245  packet->yaw = yaw;
246  packet->rollspeed = rollspeed;
247  packet->pitchspeed = pitchspeed;
248  packet->yawspeed = yawspeed;
249 
250 #if MAVLINK_CRC_EXTRA
251  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
252 #else
253  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
254 #endif
255 #endif
256 }
257 #endif
258 
259 #endif
260 
261 // MESSAGE ATTITUDE UNPACKING
262 
263 
269 static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
270 {
271  return _MAV_RETURN_uint32_t(msg, 0);
272 }
273 
279 static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
280 {
281  return _MAV_RETURN_float(msg, 4);
282 }
283 
289 static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
290 {
291  return _MAV_RETURN_float(msg, 8);
292 }
293 
299 static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
300 {
301  return _MAV_RETURN_float(msg, 12);
302 }
303 
309 static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
310 {
311  return _MAV_RETURN_float(msg, 16);
312 }
313 
319 static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
320 {
321  return _MAV_RETURN_float(msg, 20);
322 }
323 
329 static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
330 {
331  return _MAV_RETURN_float(msg, 24);
332 }
333 
340 static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
341 {
342 #if MAVLINK_NEED_BYTE_SWAP
343  attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
344  attitude->roll = mavlink_msg_attitude_get_roll(msg);
345  attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
346  attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
347  attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
348  attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
349  attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
350 #else
351  memcpy(attitude, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATTITUDE_LEN);
352 #endif
353 }
__mavlink_attitude_t::roll
float roll
Roll angle (rad, -pi..+pi)
Definition: mavlink_msg_attitude.h:8
__mavlink_attitude_t::pitchspeed
float pitchspeed
Pitch angular speed (rad/s)
Definition: mavlink_msg_attitude.h:12
__mavlink_attitude_t::pitch
float pitch
Pitch angle (rad, -pi..+pi)
Definition: mavlink_msg_attitude.h:9
__mavlink_attitude_t::time_boot_ms
uint32_t time_boot_ms
Timestamp (milliseconds since system boot)
Definition: mavlink_msg_attitude.h:7
__mavlink_attitude_t::yawspeed
float yawspeed
Yaw angular speed (rad/s)
Definition: mavlink_msg_attitude.h:13
__mavlink_attitude_t
Definition: mavlink_msg_attitude.h:5
__mavlink_attitude_t::rollspeed
float rollspeed
Roll angular speed (rad/s)
Definition: mavlink_msg_attitude.h:11
__mavlink_attitude_t::yaw
float yaw
Yaw angle (rad, -pi..+pi)
Definition: mavlink_msg_attitude.h:10
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