255 lines
7.9 KiB
C
255 lines
7.9 KiB
C
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// MESSAGE SENSOR_BIAS PACKING
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#define MAVLINK_MSG_ID_SENSOR_BIAS 172
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typedef struct __mavlink_sensor_bias_t
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{
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float axBias; ///< Accelerometer X bias (m/s)
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float ayBias; ///< Accelerometer Y bias (m/s)
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float azBias; ///< Accelerometer Z bias (m/s)
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float gxBias; ///< Gyro X bias (rad/s)
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float gyBias; ///< Gyro Y bias (rad/s)
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float gzBias; ///< Gyro Z bias (rad/s)
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} mavlink_sensor_bias_t;
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#define MAVLINK_MSG_ID_SENSOR_BIAS_LEN 24
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#define MAVLINK_MSG_ID_172_LEN 24
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#define MAVLINK_MESSAGE_INFO_SENSOR_BIAS { \
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"SENSOR_BIAS", \
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6, \
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{ { "axBias", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_bias_t, axBias) }, \
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{ "ayBias", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sensor_bias_t, ayBias) }, \
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{ "azBias", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sensor_bias_t, azBias) }, \
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{ "gxBias", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_bias_t, gxBias) }, \
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{ "gyBias", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_bias_t, gyBias) }, \
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{ "gzBias", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_bias_t, gzBias) }, \
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} \
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}
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/**
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* @brief Pack a sensor_bias message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param axBias Accelerometer X bias (m/s)
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* @param ayBias Accelerometer Y bias (m/s)
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* @param azBias Accelerometer Z bias (m/s)
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* @param gxBias Gyro X bias (rad/s)
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* @param gyBias Gyro Y bias (rad/s)
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* @param gzBias Gyro Z bias (rad/s)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_sensor_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[24];
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_mav_put_float(buf, 0, axBias);
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_mav_put_float(buf, 4, ayBias);
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_mav_put_float(buf, 8, azBias);
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_mav_put_float(buf, 12, gxBias);
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_mav_put_float(buf, 16, gyBias);
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_mav_put_float(buf, 20, gzBias);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
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#else
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mavlink_sensor_bias_t packet;
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packet.axBias = axBias;
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packet.ayBias = ayBias;
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packet.azBias = azBias;
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packet.gxBias = gxBias;
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packet.gyBias = gyBias;
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packet.gzBias = gzBias;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS;
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return mavlink_finalize_message(msg, system_id, component_id, 24, 168);
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}
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/**
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* @brief Pack a sensor_bias message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param axBias Accelerometer X bias (m/s)
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* @param ayBias Accelerometer Y bias (m/s)
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* @param azBias Accelerometer Z bias (m/s)
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* @param gxBias Gyro X bias (rad/s)
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* @param gyBias Gyro Y bias (rad/s)
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* @param gzBias Gyro Z bias (rad/s)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_sensor_bias_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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float axBias,float ayBias,float azBias,float gxBias,float gyBias,float gzBias)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[24];
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_mav_put_float(buf, 0, axBias);
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_mav_put_float(buf, 4, ayBias);
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_mav_put_float(buf, 8, azBias);
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_mav_put_float(buf, 12, gxBias);
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_mav_put_float(buf, 16, gyBias);
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_mav_put_float(buf, 20, gzBias);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 24);
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#else
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mavlink_sensor_bias_t packet;
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packet.axBias = axBias;
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packet.ayBias = ayBias;
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packet.azBias = azBias;
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packet.gxBias = gxBias;
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packet.gyBias = gyBias;
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packet.gzBias = gzBias;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 24);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 24, 168);
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}
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/**
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* @brief Encode a sensor_bias struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param sensor_bias C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_sensor_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_bias_t* sensor_bias)
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{
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return mavlink_msg_sensor_bias_pack(system_id, component_id, msg, sensor_bias->axBias, sensor_bias->ayBias, sensor_bias->azBias, sensor_bias->gxBias, sensor_bias->gyBias, sensor_bias->gzBias);
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}
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/**
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* @brief Send a sensor_bias message
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* @param chan MAVLink channel to send the message
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*
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* @param axBias Accelerometer X bias (m/s)
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* @param ayBias Accelerometer Y bias (m/s)
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* @param azBias Accelerometer Z bias (m/s)
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* @param gxBias Gyro X bias (rad/s)
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* @param gyBias Gyro Y bias (rad/s)
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* @param gzBias Gyro Z bias (rad/s)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_sensor_bias_send(mavlink_channel_t chan, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[24];
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_mav_put_float(buf, 0, axBias);
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_mav_put_float(buf, 4, ayBias);
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_mav_put_float(buf, 8, azBias);
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_mav_put_float(buf, 12, gxBias);
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_mav_put_float(buf, 16, gyBias);
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_mav_put_float(buf, 20, gzBias);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, buf, 24, 168);
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#else
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mavlink_sensor_bias_t packet;
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packet.axBias = axBias;
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packet.ayBias = ayBias;
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packet.azBias = azBias;
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packet.gxBias = gxBias;
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packet.gyBias = gyBias;
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packet.gzBias = gzBias;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, (const char *)&packet, 24, 168);
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#endif
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}
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#endif
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// MESSAGE SENSOR_BIAS UNPACKING
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/**
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* @brief Get field axBias from sensor_bias message
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*
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* @return Accelerometer X bias (m/s)
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*/
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static inline float mavlink_msg_sensor_bias_get_axBias(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field ayBias from sensor_bias message
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*
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* @return Accelerometer Y bias (m/s)
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*/
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static inline float mavlink_msg_sensor_bias_get_ayBias(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field azBias from sensor_bias message
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*
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* @return Accelerometer Z bias (m/s)
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*/
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static inline float mavlink_msg_sensor_bias_get_azBias(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field gxBias from sensor_bias message
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*
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* @return Gyro X bias (rad/s)
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*/
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static inline float mavlink_msg_sensor_bias_get_gxBias(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field gyBias from sensor_bias message
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*
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* @return Gyro Y bias (rad/s)
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*/
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static inline float mavlink_msg_sensor_bias_get_gyBias(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field gzBias from sensor_bias message
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*
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* @return Gyro Z bias (rad/s)
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*/
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static inline float mavlink_msg_sensor_bias_get_gzBias(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Decode a sensor_bias message into a struct
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*
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* @param msg The message to decode
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* @param sensor_bias C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_sensor_bias_decode(const mavlink_message_t* msg, mavlink_sensor_bias_t* sensor_bias)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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sensor_bias->axBias = mavlink_msg_sensor_bias_get_axBias(msg);
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sensor_bias->ayBias = mavlink_msg_sensor_bias_get_ayBias(msg);
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sensor_bias->azBias = mavlink_msg_sensor_bias_get_azBias(msg);
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sensor_bias->gxBias = mavlink_msg_sensor_bias_get_gxBias(msg);
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sensor_bias->gyBias = mavlink_msg_sensor_bias_get_gyBias(msg);
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sensor_bias->gzBias = mavlink_msg_sensor_bias_get_gzBias(msg);
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#else
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memcpy(sensor_bias, _MAV_PAYLOAD(msg), 24);
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#endif
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}
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