#pragma once // MESSAGE HIL_SENSOR PACKING #define MAVLINK_MSG_ID_HIL_SENSOR 107 MAVPACKED( typedef struct __mavlink_hil_sensor_t { uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/ float xacc; /*< [m/s/s] X acceleration*/ float yacc; /*< [m/s/s] Y acceleration*/ float zacc; /*< [m/s/s] Z acceleration*/ float xgyro; /*< [rad/s] Angular speed around X axis in body frame*/ float ygyro; /*< [rad/s] Angular speed around Y axis in body frame*/ float zgyro; /*< [rad/s] Angular speed around Z axis in body frame*/ float xmag; /*< [gauss] X Magnetic field*/ float ymag; /*< [gauss] Y Magnetic field*/ float zmag; /*< [gauss] Z Magnetic field*/ float abs_pressure; /*< [mbar] Absolute pressure*/ float diff_pressure; /*< [mbar] Differential pressure (airspeed)*/ float pressure_alt; /*< Altitude calculated from pressure*/ float temperature; /*< [degC] Temperature*/ uint32_t fields_updated; /*< Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.*/ }) mavlink_hil_sensor_t; #define MAVLINK_MSG_ID_HIL_SENSOR_LEN 64 #define MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN 64 #define MAVLINK_MSG_ID_107_LEN 64 #define MAVLINK_MSG_ID_107_MIN_LEN 64 #define MAVLINK_MSG_ID_HIL_SENSOR_CRC 108 #define MAVLINK_MSG_ID_107_CRC 108 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \ 107, \ "HIL_SENSOR", \ 15, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \ { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \ { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \ { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \ { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \ { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \ { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \ { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \ { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \ { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \ { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \ { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \ { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \ { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \ { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \ "HIL_SENSOR", \ 15, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \ { "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \ { "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \ { "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \ { "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \ { "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \ { "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \ { "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \ { "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \ { "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \ { "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \ { "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \ { "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \ { "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \ { "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \ } \ } #endif /** * @brief Pack a hil_sensor 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 time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. * @param xacc [m/s/s] X acceleration * @param yacc [m/s/s] Y acceleration * @param zacc [m/s/s] Z acceleration * @param xgyro [rad/s] Angular speed around X axis in body frame * @param ygyro [rad/s] Angular speed around Y axis in body frame * @param zgyro [rad/s] Angular speed around Z axis in body frame * @param xmag [gauss] X Magnetic field * @param ymag [gauss] Y Magnetic field * @param zmag [gauss] Z Magnetic field * @param abs_pressure [mbar] Absolute pressure * @param diff_pressure [mbar] Differential pressure (airspeed) * @param pressure_alt Altitude calculated from pressure * @param temperature [degC] Temperature * @param fields_updated Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, 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, uint32_t fields_updated) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, xacc); _mav_put_float(buf, 12, yacc); _mav_put_float(buf, 16, zacc); _mav_put_float(buf, 20, xgyro); _mav_put_float(buf, 24, ygyro); _mav_put_float(buf, 28, zgyro); _mav_put_float(buf, 32, xmag); _mav_put_float(buf, 36, ymag); _mav_put_float(buf, 40, zmag); _mav_put_float(buf, 44, abs_pressure); _mav_put_float(buf, 48, diff_pressure); _mav_put_float(buf, 52, pressure_alt); _mav_put_float(buf, 56, temperature); _mav_put_uint32_t(buf, 60, fields_updated); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN); #else mavlink_hil_sensor_t packet; packet.time_usec = time_usec; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; packet.xgyro = xgyro; packet.ygyro = ygyro; packet.zgyro = zgyro; packet.xmag = xmag; packet.ymag = ymag; packet.zmag = zmag; packet.abs_pressure = abs_pressure; packet.diff_pressure = diff_pressure; packet.pressure_alt = pressure_alt; packet.temperature = temperature; packet.fields_updated = fields_updated; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN); #endif msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); } /** * @brief Pack a hil_sensor message on a channel * @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 will be sent over * @param msg The MAVLink message to compress the data into * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. * @param xacc [m/s/s] X acceleration * @param yacc [m/s/s] Y acceleration * @param zacc [m/s/s] Z acceleration * @param xgyro [rad/s] Angular speed around X axis in body frame * @param ygyro [rad/s] Angular speed around Y axis in body frame * @param zgyro [rad/s] Angular speed around Z axis in body frame * @param xmag [gauss] X Magnetic field * @param ymag [gauss] Y Magnetic field * @param zmag [gauss] Z Magnetic field * @param abs_pressure [mbar] Absolute pressure * @param diff_pressure [mbar] Differential pressure (airspeed) * @param pressure_alt Altitude calculated from pressure * @param temperature [degC] Temperature * @param fields_updated Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_hil_sensor_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, 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,uint32_t fields_updated) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, xacc); _mav_put_float(buf, 12, yacc); _mav_put_float(buf, 16, zacc); _mav_put_float(buf, 20, xgyro); _mav_put_float(buf, 24, ygyro); _mav_put_float(buf, 28, zgyro); _mav_put_float(buf, 32, xmag); _mav_put_float(buf, 36, ymag); _mav_put_float(buf, 40, zmag); _mav_put_float(buf, 44, abs_pressure); _mav_put_float(buf, 48, diff_pressure); _mav_put_float(buf, 52, pressure_alt); _mav_put_float(buf, 56, temperature); _mav_put_uint32_t(buf, 60, fields_updated); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN); #else mavlink_hil_sensor_t packet; packet.time_usec = time_usec; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; packet.xgyro = xgyro; packet.ygyro = ygyro; packet.zgyro = zgyro; packet.xmag = xmag; packet.ymag = ymag; packet.zmag = zmag; packet.abs_pressure = abs_pressure; packet.diff_pressure = diff_pressure; packet.pressure_alt = pressure_alt; packet.temperature = temperature; packet.fields_updated = fields_updated; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN); #endif msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); } /** * @brief Encode a hil_sensor struct * * @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 hil_sensor C-struct to read the message contents from */ static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor) { return mavlink_msg_hil_sensor_pack(system_id, component_id, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated); } /** * @brief Encode a hil_sensor struct on a channel * * @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 will be sent over * @param msg The MAVLink message to compress the data into * @param hil_sensor C-struct to read the message contents from */ static inline uint16_t mavlink_msg_hil_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor) { return mavlink_msg_hil_sensor_pack_chan(system_id, component_id, chan, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated); } /** * @brief Send a hil_sensor message * @param chan MAVLink channel to send the message * * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. * @param xacc [m/s/s] X acceleration * @param yacc [m/s/s] Y acceleration * @param zacc [m/s/s] Z acceleration * @param xgyro [rad/s] Angular speed around X axis in body frame * @param ygyro [rad/s] Angular speed around Y axis in body frame * @param zgyro [rad/s] Angular speed around Z axis in body frame * @param xmag [gauss] X Magnetic field * @param ymag [gauss] Y Magnetic field * @param zmag [gauss] Z Magnetic field * @param abs_pressure [mbar] Absolute pressure * @param diff_pressure [mbar] Differential pressure (airspeed) * @param pressure_alt Altitude calculated from pressure * @param temperature [degC] Temperature * @param fields_updated Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_hil_sensor_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, uint32_t fields_updated) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_HIL_SENSOR_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, xacc); _mav_put_float(buf, 12, yacc); _mav_put_float(buf, 16, zacc); _mav_put_float(buf, 20, xgyro); _mav_put_float(buf, 24, ygyro); _mav_put_float(buf, 28, zgyro); _mav_put_float(buf, 32, xmag); _mav_put_float(buf, 36, ymag); _mav_put_float(buf, 40, zmag); _mav_put_float(buf, 44, abs_pressure); _mav_put_float(buf, 48, diff_pressure); _mav_put_float(buf, 52, pressure_alt); _mav_put_float(buf, 56, temperature); _mav_put_uint32_t(buf, 60, fields_updated); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); #else mavlink_hil_sensor_t packet; packet.time_usec = time_usec; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; packet.xgyro = xgyro; packet.ygyro = ygyro; packet.zgyro = zgyro; packet.xmag = xmag; packet.ymag = ymag; packet.zmag = zmag; packet.abs_pressure = abs_pressure; packet.diff_pressure = diff_pressure; packet.pressure_alt = pressure_alt; packet.temperature = temperature; packet.fields_updated = fields_updated; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); #endif } /** * @brief Send a hil_sensor message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_hil_sensor_send_struct(mavlink_channel_t chan, const mavlink_hil_sensor_t* hil_sensor) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_hil_sensor_send(chan, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)hil_sensor, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); #endif } #if MAVLINK_MSG_ID_HIL_SENSOR_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_hil_sensor_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, uint32_t fields_updated) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, xacc); _mav_put_float(buf, 12, yacc); _mav_put_float(buf, 16, zacc); _mav_put_float(buf, 20, xgyro); _mav_put_float(buf, 24, ygyro); _mav_put_float(buf, 28, zgyro); _mav_put_float(buf, 32, xmag); _mav_put_float(buf, 36, ymag); _mav_put_float(buf, 40, zmag); _mav_put_float(buf, 44, abs_pressure); _mav_put_float(buf, 48, diff_pressure); _mav_put_float(buf, 52, pressure_alt); _mav_put_float(buf, 56, temperature); _mav_put_uint32_t(buf, 60, fields_updated); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); #else mavlink_hil_sensor_t *packet = (mavlink_hil_sensor_t *)msgbuf; packet->time_usec = time_usec; packet->xacc = xacc; packet->yacc = yacc; packet->zacc = zacc; packet->xgyro = xgyro; packet->ygyro = ygyro; packet->zgyro = zgyro; packet->xmag = xmag; packet->ymag = ymag; packet->zmag = zmag; packet->abs_pressure = abs_pressure; packet->diff_pressure = diff_pressure; packet->pressure_alt = pressure_alt; packet->temperature = temperature; packet->fields_updated = fields_updated; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)packet, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC); #endif } #endif #endif // MESSAGE HIL_SENSOR UNPACKING /** * @brief Get field time_usec from hil_sensor message * * @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number. */ static inline uint64_t mavlink_msg_hil_sensor_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field xacc from hil_sensor message * * @return [m/s/s] X acceleration */ static inline float mavlink_msg_hil_sensor_get_xacc(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field yacc from hil_sensor message * * @return [m/s/s] Y acceleration */ static inline float mavlink_msg_hil_sensor_get_yacc(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field zacc from hil_sensor message * * @return [m/s/s] Z acceleration */ static inline float mavlink_msg_hil_sensor_get_zacc(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field xgyro from hil_sensor message * * @return [rad/s] Angular speed around X axis in body frame */ static inline float mavlink_msg_hil_sensor_get_xgyro(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field ygyro from hil_sensor message * * @return [rad/s] Angular speed around Y axis in body frame */ static inline float mavlink_msg_hil_sensor_get_ygyro(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field zgyro from hil_sensor message * * @return [rad/s] Angular speed around Z axis in body frame */ static inline float mavlink_msg_hil_sensor_get_zgyro(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field xmag from hil_sensor message * * @return [gauss] X Magnetic field */ static inline float mavlink_msg_hil_sensor_get_xmag(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Get field ymag from hil_sensor message * * @return [gauss] Y Magnetic field */ static inline float mavlink_msg_hil_sensor_get_ymag(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 36); } /** * @brief Get field zmag from hil_sensor message * * @return [gauss] Z Magnetic field */ static inline float mavlink_msg_hil_sensor_get_zmag(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 40); } /** * @brief Get field abs_pressure from hil_sensor message * * @return [mbar] Absolute pressure */ static inline float mavlink_msg_hil_sensor_get_abs_pressure(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 44); } /** * @brief Get field diff_pressure from hil_sensor message * * @return [mbar] Differential pressure (airspeed) */ static inline float mavlink_msg_hil_sensor_get_diff_pressure(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 48); } /** * @brief Get field pressure_alt from hil_sensor message * * @return Altitude calculated from pressure */ static inline float mavlink_msg_hil_sensor_get_pressure_alt(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 52); } /** * @brief Get field temperature from hil_sensor message * * @return [degC] Temperature */ static inline float mavlink_msg_hil_sensor_get_temperature(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 56); } /** * @brief Get field fields_updated from hil_sensor message * * @return Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim. */ static inline uint32_t mavlink_msg_hil_sensor_get_fields_updated(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 60); } /** * @brief Decode a hil_sensor message into a struct * * @param msg The message to decode * @param hil_sensor C-struct to decode the message contents into */ static inline void mavlink_msg_hil_sensor_decode(const mavlink_message_t* msg, mavlink_hil_sensor_t* hil_sensor) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS hil_sensor->time_usec = mavlink_msg_hil_sensor_get_time_usec(msg); hil_sensor->xacc = mavlink_msg_hil_sensor_get_xacc(msg); hil_sensor->yacc = mavlink_msg_hil_sensor_get_yacc(msg); hil_sensor->zacc = mavlink_msg_hil_sensor_get_zacc(msg); hil_sensor->xgyro = mavlink_msg_hil_sensor_get_xgyro(msg); hil_sensor->ygyro = mavlink_msg_hil_sensor_get_ygyro(msg); hil_sensor->zgyro = mavlink_msg_hil_sensor_get_zgyro(msg); hil_sensor->xmag = mavlink_msg_hil_sensor_get_xmag(msg); hil_sensor->ymag = mavlink_msg_hil_sensor_get_ymag(msg); hil_sensor->zmag = mavlink_msg_hil_sensor_get_zmag(msg); hil_sensor->abs_pressure = mavlink_msg_hil_sensor_get_abs_pressure(msg); hil_sensor->diff_pressure = mavlink_msg_hil_sensor_get_diff_pressure(msg); hil_sensor->pressure_alt = mavlink_msg_hil_sensor_get_pressure_alt(msg); hil_sensor->temperature = mavlink_msg_hil_sensor_get_temperature(msg); hil_sensor->fields_updated = mavlink_msg_hil_sensor_get_fields_updated(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_SENSOR_LEN? msg->len : MAVLINK_MSG_ID_HIL_SENSOR_LEN; memset(hil_sensor, 0, MAVLINK_MSG_ID_HIL_SENSOR_LEN); memcpy(hil_sensor, _MAV_PAYLOAD(msg), len); #endif }