MAV'RIC
mavlink_msg_highres_imu.h
1 // MESSAGE HIGHRES_IMU PACKING
2 
3 #define MAVLINK_MSG_ID_HIGHRES_IMU 105
4 
5 typedef struct __mavlink_highres_imu_t
6 {
7  uint64_t time_usec;
8  float xacc;
9  float yacc;
10  float zacc;
11  float xgyro;
12  float ygyro;
13  float zgyro;
14  float xmag;
15  float ymag;
16  float zmag;
17  float abs_pressure;
18  float diff_pressure;
19  float pressure_alt;
20  float temperature;
21  uint16_t fields_updated;
22 } mavlink_highres_imu_t;
23 
24 #define MAVLINK_MSG_ID_HIGHRES_IMU_LEN 62
25 #define MAVLINK_MSG_ID_105_LEN 62
26 
27 #define MAVLINK_MSG_ID_HIGHRES_IMU_CRC 93
28 #define MAVLINK_MSG_ID_105_CRC 93
29 
30 
31 
32 #define MAVLINK_MESSAGE_INFO_HIGHRES_IMU { \
33  "HIGHRES_IMU", \
34  15, \
35  { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_highres_imu_t, time_usec) }, \
36  { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_highres_imu_t, xacc) }, \
37  { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_highres_imu_t, yacc) }, \
38  { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_highres_imu_t, zacc) }, \
39  { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_highres_imu_t, xgyro) }, \
40  { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_highres_imu_t, ygyro) }, \
41  { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_highres_imu_t, zgyro) }, \
42  { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_highres_imu_t, xmag) }, \
43  { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_highres_imu_t, ymag) }, \
44  { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_highres_imu_t, zmag) }, \
45  { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_highres_imu_t, abs_pressure) }, \
46  { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_highres_imu_t, diff_pressure) }, \
47  { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_highres_imu_t, pressure_alt) }, \
48  { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_highres_imu_t, temperature) }, \
49  { "fields_updated", NULL, MAVLINK_TYPE_UINT16_T, 0, 60, offsetof(mavlink_highres_imu_t, fields_updated) }, \
50  } \
51 }
52 
53 
77 static inline uint16_t mavlink_msg_highres_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
78  uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
79 {
80 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
81  char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
82  _mav_put_uint64_t(buf, 0, time_usec);
83  _mav_put_float(buf, 8, xacc);
84  _mav_put_float(buf, 12, yacc);
85  _mav_put_float(buf, 16, zacc);
86  _mav_put_float(buf, 20, xgyro);
87  _mav_put_float(buf, 24, ygyro);
88  _mav_put_float(buf, 28, zgyro);
89  _mav_put_float(buf, 32, xmag);
90  _mav_put_float(buf, 36, ymag);
91  _mav_put_float(buf, 40, zmag);
92  _mav_put_float(buf, 44, abs_pressure);
93  _mav_put_float(buf, 48, diff_pressure);
94  _mav_put_float(buf, 52, pressure_alt);
95  _mav_put_float(buf, 56, temperature);
96  _mav_put_uint16_t(buf, 60, fields_updated);
97 
98  memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
99 #else
100  mavlink_highres_imu_t packet;
101  packet.time_usec = time_usec;
102  packet.xacc = xacc;
103  packet.yacc = yacc;
104  packet.zacc = zacc;
105  packet.xgyro = xgyro;
106  packet.ygyro = ygyro;
107  packet.zgyro = zgyro;
108  packet.xmag = xmag;
109  packet.ymag = ymag;
110  packet.zmag = zmag;
111  packet.abs_pressure = abs_pressure;
112  packet.diff_pressure = diff_pressure;
113  packet.pressure_alt = pressure_alt;
114  packet.temperature = temperature;
115  packet.fields_updated = fields_updated;
116 
117  memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
118 #endif
119 
120  msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
121 #if MAVLINK_CRC_EXTRA
122  return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
123 #else
124  return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
125 #endif
126 }
127 
151 static inline uint16_t mavlink_msg_highres_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
152  mavlink_message_t* msg,
153  uint64_t time_usec,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint16_t fields_updated)
154 {
155 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
156  char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
157  _mav_put_uint64_t(buf, 0, time_usec);
158  _mav_put_float(buf, 8, xacc);
159  _mav_put_float(buf, 12, yacc);
160  _mav_put_float(buf, 16, zacc);
161  _mav_put_float(buf, 20, xgyro);
162  _mav_put_float(buf, 24, ygyro);
163  _mav_put_float(buf, 28, zgyro);
164  _mav_put_float(buf, 32, xmag);
165  _mav_put_float(buf, 36, ymag);
166  _mav_put_float(buf, 40, zmag);
167  _mav_put_float(buf, 44, abs_pressure);
168  _mav_put_float(buf, 48, diff_pressure);
169  _mav_put_float(buf, 52, pressure_alt);
170  _mav_put_float(buf, 56, temperature);
171  _mav_put_uint16_t(buf, 60, fields_updated);
172 
173  memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
174 #else
175  mavlink_highres_imu_t packet;
176  packet.time_usec = time_usec;
177  packet.xacc = xacc;
178  packet.yacc = yacc;
179  packet.zacc = zacc;
180  packet.xgyro = xgyro;
181  packet.ygyro = ygyro;
182  packet.zgyro = zgyro;
183  packet.xmag = xmag;
184  packet.ymag = ymag;
185  packet.zmag = zmag;
186  packet.abs_pressure = abs_pressure;
187  packet.diff_pressure = diff_pressure;
188  packet.pressure_alt = pressure_alt;
189  packet.temperature = temperature;
190  packet.fields_updated = fields_updated;
191 
192  memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
193 #endif
194 
195  msg->msgid = MAVLINK_MSG_ID_HIGHRES_IMU;
196 #if MAVLINK_CRC_EXTRA
197  return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
198 #else
199  return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
200 #endif
201 }
202 
211 static inline uint16_t mavlink_msg_highres_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
212 {
213  return mavlink_msg_highres_imu_pack(system_id, component_id, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
214 }
215 
225 static inline uint16_t mavlink_msg_highres_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_highres_imu_t* highres_imu)
226 {
227  return mavlink_msg_highres_imu_pack_chan(system_id, component_id, chan, msg, highres_imu->time_usec, highres_imu->xacc, highres_imu->yacc, highres_imu->zacc, highres_imu->xgyro, highres_imu->ygyro, highres_imu->zgyro, highres_imu->xmag, highres_imu->ymag, highres_imu->zmag, highres_imu->abs_pressure, highres_imu->diff_pressure, highres_imu->pressure_alt, highres_imu->temperature, highres_imu->fields_updated);
228 }
229 
250 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
251 
252 static inline void mavlink_msg_highres_imu_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
253 {
254 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
255  char buf[MAVLINK_MSG_ID_HIGHRES_IMU_LEN];
256  _mav_put_uint64_t(buf, 0, time_usec);
257  _mav_put_float(buf, 8, xacc);
258  _mav_put_float(buf, 12, yacc);
259  _mav_put_float(buf, 16, zacc);
260  _mav_put_float(buf, 20, xgyro);
261  _mav_put_float(buf, 24, ygyro);
262  _mav_put_float(buf, 28, zgyro);
263  _mav_put_float(buf, 32, xmag);
264  _mav_put_float(buf, 36, ymag);
265  _mav_put_float(buf, 40, zmag);
266  _mav_put_float(buf, 44, abs_pressure);
267  _mav_put_float(buf, 48, diff_pressure);
268  _mav_put_float(buf, 52, pressure_alt);
269  _mav_put_float(buf, 56, temperature);
270  _mav_put_uint16_t(buf, 60, fields_updated);
271 
272 #if MAVLINK_CRC_EXTRA
273  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
274 #else
275  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
276 #endif
277 #else
278  mavlink_highres_imu_t packet;
279  packet.time_usec = time_usec;
280  packet.xacc = xacc;
281  packet.yacc = yacc;
282  packet.zacc = zacc;
283  packet.xgyro = xgyro;
284  packet.ygyro = ygyro;
285  packet.zgyro = zgyro;
286  packet.xmag = xmag;
287  packet.ymag = ymag;
288  packet.zmag = zmag;
289  packet.abs_pressure = abs_pressure;
290  packet.diff_pressure = diff_pressure;
291  packet.pressure_alt = pressure_alt;
292  packet.temperature = temperature;
293  packet.fields_updated = fields_updated;
294 
295 #if MAVLINK_CRC_EXTRA
296  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
297 #else
298  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)&packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
299 #endif
300 #endif
301 }
302 
303 #if MAVLINK_MSG_ID_HIGHRES_IMU_LEN <= MAVLINK_MAX_PAYLOAD_LEN
304 /*
305  This varient of _send() can be used to save stack space by re-using
306  memory from the receive buffer. The caller provides a
307  mavlink_message_t which is the size of a full mavlink message. This
308  is usually the receive buffer for the channel, and allows a reply to an
309  incoming message with minimum stack space usage.
310  */
311 static inline void mavlink_msg_highres_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint16_t fields_updated)
312 {
313 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
314  char *buf = (char *)msgbuf;
315  _mav_put_uint64_t(buf, 0, time_usec);
316  _mav_put_float(buf, 8, xacc);
317  _mav_put_float(buf, 12, yacc);
318  _mav_put_float(buf, 16, zacc);
319  _mav_put_float(buf, 20, xgyro);
320  _mav_put_float(buf, 24, ygyro);
321  _mav_put_float(buf, 28, zgyro);
322  _mav_put_float(buf, 32, xmag);
323  _mav_put_float(buf, 36, ymag);
324  _mav_put_float(buf, 40, zmag);
325  _mav_put_float(buf, 44, abs_pressure);
326  _mav_put_float(buf, 48, diff_pressure);
327  _mav_put_float(buf, 52, pressure_alt);
328  _mav_put_float(buf, 56, temperature);
329  _mav_put_uint16_t(buf, 60, fields_updated);
330 
331 #if MAVLINK_CRC_EXTRA
332  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
333 #else
334  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, buf, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
335 #endif
336 #else
337  mavlink_highres_imu_t *packet = (mavlink_highres_imu_t *)msgbuf;
338  packet->time_usec = time_usec;
339  packet->xacc = xacc;
340  packet->yacc = yacc;
341  packet->zacc = zacc;
342  packet->xgyro = xgyro;
343  packet->ygyro = ygyro;
344  packet->zgyro = zgyro;
345  packet->xmag = xmag;
346  packet->ymag = ymag;
347  packet->zmag = zmag;
348  packet->abs_pressure = abs_pressure;
349  packet->diff_pressure = diff_pressure;
350  packet->pressure_alt = pressure_alt;
351  packet->temperature = temperature;
352  packet->fields_updated = fields_updated;
353 
354 #if MAVLINK_CRC_EXTRA
355  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN, MAVLINK_MSG_ID_HIGHRES_IMU_CRC);
356 #else
357  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIGHRES_IMU, (const char *)packet, MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
358 #endif
359 #endif
360 }
361 #endif
362 
363 #endif
364 
365 // MESSAGE HIGHRES_IMU UNPACKING
366 
367 
373 static inline uint64_t mavlink_msg_highres_imu_get_time_usec(const mavlink_message_t* msg)
374 {
375  return _MAV_RETURN_uint64_t(msg, 0);
376 }
377 
383 static inline float mavlink_msg_highres_imu_get_xacc(const mavlink_message_t* msg)
384 {
385  return _MAV_RETURN_float(msg, 8);
386 }
387 
393 static inline float mavlink_msg_highres_imu_get_yacc(const mavlink_message_t* msg)
394 {
395  return _MAV_RETURN_float(msg, 12);
396 }
397 
403 static inline float mavlink_msg_highres_imu_get_zacc(const mavlink_message_t* msg)
404 {
405  return _MAV_RETURN_float(msg, 16);
406 }
407 
413 static inline float mavlink_msg_highres_imu_get_xgyro(const mavlink_message_t* msg)
414 {
415  return _MAV_RETURN_float(msg, 20);
416 }
417 
423 static inline float mavlink_msg_highres_imu_get_ygyro(const mavlink_message_t* msg)
424 {
425  return _MAV_RETURN_float(msg, 24);
426 }
427 
433 static inline float mavlink_msg_highres_imu_get_zgyro(const mavlink_message_t* msg)
434 {
435  return _MAV_RETURN_float(msg, 28);
436 }
437 
443 static inline float mavlink_msg_highres_imu_get_xmag(const mavlink_message_t* msg)
444 {
445  return _MAV_RETURN_float(msg, 32);
446 }
447 
453 static inline float mavlink_msg_highres_imu_get_ymag(const mavlink_message_t* msg)
454 {
455  return _MAV_RETURN_float(msg, 36);
456 }
457 
463 static inline float mavlink_msg_highres_imu_get_zmag(const mavlink_message_t* msg)
464 {
465  return _MAV_RETURN_float(msg, 40);
466 }
467 
473 static inline float mavlink_msg_highres_imu_get_abs_pressure(const mavlink_message_t* msg)
474 {
475  return _MAV_RETURN_float(msg, 44);
476 }
477 
483 static inline float mavlink_msg_highres_imu_get_diff_pressure(const mavlink_message_t* msg)
484 {
485  return _MAV_RETURN_float(msg, 48);
486 }
487 
493 static inline float mavlink_msg_highres_imu_get_pressure_alt(const mavlink_message_t* msg)
494 {
495  return _MAV_RETURN_float(msg, 52);
496 }
497 
503 static inline float mavlink_msg_highres_imu_get_temperature(const mavlink_message_t* msg)
504 {
505  return _MAV_RETURN_float(msg, 56);
506 }
507 
513 static inline uint16_t mavlink_msg_highres_imu_get_fields_updated(const mavlink_message_t* msg)
514 {
515  return _MAV_RETURN_uint16_t(msg, 60);
516 }
517 
524 static inline void mavlink_msg_highres_imu_decode(const mavlink_message_t* msg, mavlink_highres_imu_t* highres_imu)
525 {
526 #if MAVLINK_NEED_BYTE_SWAP
527  highres_imu->time_usec = mavlink_msg_highres_imu_get_time_usec(msg);
528  highres_imu->xacc = mavlink_msg_highres_imu_get_xacc(msg);
529  highres_imu->yacc = mavlink_msg_highres_imu_get_yacc(msg);
530  highres_imu->zacc = mavlink_msg_highres_imu_get_zacc(msg);
531  highres_imu->xgyro = mavlink_msg_highres_imu_get_xgyro(msg);
532  highres_imu->ygyro = mavlink_msg_highres_imu_get_ygyro(msg);
533  highres_imu->zgyro = mavlink_msg_highres_imu_get_zgyro(msg);
534  highres_imu->xmag = mavlink_msg_highres_imu_get_xmag(msg);
535  highres_imu->ymag = mavlink_msg_highres_imu_get_ymag(msg);
536  highres_imu->zmag = mavlink_msg_highres_imu_get_zmag(msg);
537  highres_imu->abs_pressure = mavlink_msg_highres_imu_get_abs_pressure(msg);
538  highres_imu->diff_pressure = mavlink_msg_highres_imu_get_diff_pressure(msg);
539  highres_imu->pressure_alt = mavlink_msg_highres_imu_get_pressure_alt(msg);
540  highres_imu->temperature = mavlink_msg_highres_imu_get_temperature(msg);
541  highres_imu->fields_updated = mavlink_msg_highres_imu_get_fields_updated(msg);
542 #else
543  memcpy(highres_imu, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_HIGHRES_IMU_LEN);
544 #endif
545 }
__mavlink_highres_imu_t::ygyro
float ygyro
Angular speed around Y axis (rad / sec)
Definition: mavlink_msg_highres_imu.h:12
__mavlink_highres_imu_t::xgyro
float xgyro
Angular speed around X axis (rad / sec)
Definition: mavlink_msg_highres_imu.h:11
__mavlink_highres_imu_t::zgyro
float zgyro
Angular speed around Z axis (rad / sec)
Definition: mavlink_msg_highres_imu.h:13
__mavlink_highres_imu_t::fields_updated
uint16_t fields_updated
Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature.
Definition: mavlink_msg_highres_imu.h:21
__mavlink_highres_imu_t::zacc
float zacc
Z acceleration (m/s^2)
Definition: mavlink_msg_highres_imu.h:10
__mavlink_highres_imu_t::xmag
float xmag
X Magnetic field (Gauss)
Definition: mavlink_msg_highres_imu.h:14
__mavlink_highres_imu_t::temperature
float temperature
Temperature in degrees celsius.
Definition: mavlink_msg_highres_imu.h:20
__mavlink_highres_imu_t::zmag
float zmag
Z Magnetic field (Gauss)
Definition: mavlink_msg_highres_imu.h:16
__mavlink_highres_imu_t::diff_pressure
float diff_pressure
Differential pressure in millibar.
Definition: mavlink_msg_highres_imu.h:18
__mavlink_highres_imu_t::ymag
float ymag
Y Magnetic field (Gauss)
Definition: mavlink_msg_highres_imu.h:15
__mavlink_highres_imu_t
Definition: mavlink_msg_highres_imu.h:5
__mavlink_highres_imu_t::time_usec
uint64_t time_usec
Timestamp (microseconds, synced to UNIX time or since system boot)
Definition: mavlink_msg_highres_imu.h:7
__mavlink_highres_imu_t::abs_pressure
float abs_pressure
Absolute pressure in millibar.
Definition: mavlink_msg_highres_imu.h:17
__mavlink_highres_imu_t::xacc
float xacc
X acceleration (m/s^2)
Definition: mavlink_msg_highres_imu.h:8
__mavlink_highres_imu_t::pressure_alt
float pressure_alt
Altitude calculated from pressure.
Definition: mavlink_msg_highres_imu.h:19
__mavlink_highres_imu_t::yacc
float yacc
Y acceleration (m/s^2)
Definition: mavlink_msg_highres_imu.h:9
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