#pragma once // MESSAGE FW_SOARING_DATA PACKING #define MAVLINK_MSG_ID_FW_SOARING_DATA 210 MAVPACKED( typedef struct __mavlink_fw_soaring_data_t { uint64_t timestamp; /*< [ms] Timestamp*/ uint64_t timestampModeChanged; /*< [ms] Timestamp since last mode change*/ float xW; /*< [m/s] Thermal core updraft strength*/ float xR; /*< [m] Thermal radius*/ float xLat; /*< [deg] Thermal center latitude*/ float xLon; /*< [deg] Thermal center longitude*/ float VarW; /*< Variance W*/ float VarR; /*< Variance R*/ float VarLat; /*< Variance Lat*/ float VarLon; /*< Variance Lon */ float LoiterRadius; /*< [m] Suggested loiter radius*/ float LoiterDirection; /*< Suggested loiter direction*/ float DistToSoarPoint; /*< [m] Distance to soar point*/ float vSinkExp; /*< [m/s] Expected sink rate at current airspeed, roll and throttle*/ float z1_LocalUpdraftSpeed; /*< [m/s] Measurement / updraft speed at current/local airplane position*/ float z2_DeltaRoll; /*< [deg] Measurement / roll angle tracking error*/ float z1_exp; /*< Expected measurement 1*/ float z2_exp; /*< Expected measurement 2*/ float ThermalGSNorth; /*< [m/s] Thermal drift (from estimator prediction step only)*/ float ThermalGSEast; /*< [m/s] Thermal drift (from estimator prediction step only)*/ float TSE_dot; /*< [m/s] Total specific energy change (filtered)*/ float DebugVar1; /*< Debug variable 1*/ float DebugVar2; /*< Debug variable 2*/ uint8_t ControlMode; /*< Control Mode [-]*/ uint8_t valid; /*< Data valid [-]*/ }) mavlink_fw_soaring_data_t; #define MAVLINK_MSG_ID_FW_SOARING_DATA_LEN 102 #define MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN 102 #define MAVLINK_MSG_ID_210_LEN 102 #define MAVLINK_MSG_ID_210_MIN_LEN 102 #define MAVLINK_MSG_ID_FW_SOARING_DATA_CRC 20 #define MAVLINK_MSG_ID_210_CRC 20 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_FW_SOARING_DATA { \ 210, \ "FW_SOARING_DATA", \ 25, \ { { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_fw_soaring_data_t, timestamp) }, \ { "timestampModeChanged", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_fw_soaring_data_t, timestampModeChanged) }, \ { "xW", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_fw_soaring_data_t, xW) }, \ { "xR", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_fw_soaring_data_t, xR) }, \ { "xLat", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_fw_soaring_data_t, xLat) }, \ { "xLon", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_fw_soaring_data_t, xLon) }, \ { "VarW", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_fw_soaring_data_t, VarW) }, \ { "VarR", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_fw_soaring_data_t, VarR) }, \ { "VarLat", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_fw_soaring_data_t, VarLat) }, \ { "VarLon", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_fw_soaring_data_t, VarLon) }, \ { "LoiterRadius", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_fw_soaring_data_t, LoiterRadius) }, \ { "LoiterDirection", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_fw_soaring_data_t, LoiterDirection) }, \ { "DistToSoarPoint", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_fw_soaring_data_t, DistToSoarPoint) }, \ { "vSinkExp", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_fw_soaring_data_t, vSinkExp) }, \ { "z1_LocalUpdraftSpeed", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_fw_soaring_data_t, z1_LocalUpdraftSpeed) }, \ { "z2_DeltaRoll", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_fw_soaring_data_t, z2_DeltaRoll) }, \ { "z1_exp", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_fw_soaring_data_t, z1_exp) }, \ { "z2_exp", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_fw_soaring_data_t, z2_exp) }, \ { "ThermalGSNorth", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_fw_soaring_data_t, ThermalGSNorth) }, \ { "ThermalGSEast", NULL, MAVLINK_TYPE_FLOAT, 0, 84, offsetof(mavlink_fw_soaring_data_t, ThermalGSEast) }, \ { "TSE_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_fw_soaring_data_t, TSE_dot) }, \ { "DebugVar1", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_fw_soaring_data_t, DebugVar1) }, \ { "DebugVar2", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_fw_soaring_data_t, DebugVar2) }, \ { "ControlMode", NULL, MAVLINK_TYPE_UINT8_T, 0, 100, offsetof(mavlink_fw_soaring_data_t, ControlMode) }, \ { "valid", NULL, MAVLINK_TYPE_UINT8_T, 0, 101, offsetof(mavlink_fw_soaring_data_t, valid) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_FW_SOARING_DATA { \ "FW_SOARING_DATA", \ 25, \ { { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_fw_soaring_data_t, timestamp) }, \ { "timestampModeChanged", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_fw_soaring_data_t, timestampModeChanged) }, \ { "xW", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_fw_soaring_data_t, xW) }, \ { "xR", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_fw_soaring_data_t, xR) }, \ { "xLat", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_fw_soaring_data_t, xLat) }, \ { "xLon", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_fw_soaring_data_t, xLon) }, \ { "VarW", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_fw_soaring_data_t, VarW) }, \ { "VarR", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_fw_soaring_data_t, VarR) }, \ { "VarLat", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_fw_soaring_data_t, VarLat) }, \ { "VarLon", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_fw_soaring_data_t, VarLon) }, \ { "LoiterRadius", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_fw_soaring_data_t, LoiterRadius) }, \ { "LoiterDirection", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_fw_soaring_data_t, LoiterDirection) }, \ { "DistToSoarPoint", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_fw_soaring_data_t, DistToSoarPoint) }, \ { "vSinkExp", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_fw_soaring_data_t, vSinkExp) }, \ { "z1_LocalUpdraftSpeed", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_fw_soaring_data_t, z1_LocalUpdraftSpeed) }, \ { "z2_DeltaRoll", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_fw_soaring_data_t, z2_DeltaRoll) }, \ { "z1_exp", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_fw_soaring_data_t, z1_exp) }, \ { "z2_exp", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_fw_soaring_data_t, z2_exp) }, \ { "ThermalGSNorth", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_fw_soaring_data_t, ThermalGSNorth) }, \ { "ThermalGSEast", NULL, MAVLINK_TYPE_FLOAT, 0, 84, offsetof(mavlink_fw_soaring_data_t, ThermalGSEast) }, \ { "TSE_dot", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_fw_soaring_data_t, TSE_dot) }, \ { "DebugVar1", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_fw_soaring_data_t, DebugVar1) }, \ { "DebugVar2", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_fw_soaring_data_t, DebugVar2) }, \ { "ControlMode", NULL, MAVLINK_TYPE_UINT8_T, 0, 100, offsetof(mavlink_fw_soaring_data_t, ControlMode) }, \ { "valid", NULL, MAVLINK_TYPE_UINT8_T, 0, 101, offsetof(mavlink_fw_soaring_data_t, valid) }, \ } \ } #endif /** * @brief Pack a fw_soaring_data 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 timestamp [ms] Timestamp * @param timestampModeChanged [ms] Timestamp since last mode change * @param xW [m/s] Thermal core updraft strength * @param xR [m] Thermal radius * @param xLat [deg] Thermal center latitude * @param xLon [deg] Thermal center longitude * @param VarW Variance W * @param VarR Variance R * @param VarLat Variance Lat * @param VarLon Variance Lon * @param LoiterRadius [m] Suggested loiter radius * @param LoiterDirection Suggested loiter direction * @param DistToSoarPoint [m] Distance to soar point * @param vSinkExp [m/s] Expected sink rate at current airspeed, roll and throttle * @param z1_LocalUpdraftSpeed [m/s] Measurement / updraft speed at current/local airplane position * @param z2_DeltaRoll [deg] Measurement / roll angle tracking error * @param z1_exp Expected measurement 1 * @param z2_exp Expected measurement 2 * @param ThermalGSNorth [m/s] Thermal drift (from estimator prediction step only) * @param ThermalGSEast [m/s] Thermal drift (from estimator prediction step only) * @param TSE_dot [m/s] Total specific energy change (filtered) * @param DebugVar1 Debug variable 1 * @param DebugVar2 Debug variable 2 * @param ControlMode Control Mode [-] * @param valid Data valid [-] * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_fw_soaring_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t timestamp, uint64_t timestampModeChanged, float xW, float xR, float xLat, float xLon, float VarW, float VarR, float VarLat, float VarLon, float LoiterRadius, float LoiterDirection, float DistToSoarPoint, float vSinkExp, float z1_LocalUpdraftSpeed, float z2_DeltaRoll, float z1_exp, float z2_exp, float ThermalGSNorth, float ThermalGSEast, float TSE_dot, float DebugVar1, float DebugVar2, uint8_t ControlMode, uint8_t valid) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_FW_SOARING_DATA_LEN]; _mav_put_uint64_t(buf, 0, timestamp); _mav_put_uint64_t(buf, 8, timestampModeChanged); _mav_put_float(buf, 16, xW); _mav_put_float(buf, 20, xR); _mav_put_float(buf, 24, xLat); _mav_put_float(buf, 28, xLon); _mav_put_float(buf, 32, VarW); _mav_put_float(buf, 36, VarR); _mav_put_float(buf, 40, VarLat); _mav_put_float(buf, 44, VarLon); _mav_put_float(buf, 48, LoiterRadius); _mav_put_float(buf, 52, LoiterDirection); _mav_put_float(buf, 56, DistToSoarPoint); _mav_put_float(buf, 60, vSinkExp); _mav_put_float(buf, 64, z1_LocalUpdraftSpeed); _mav_put_float(buf, 68, z2_DeltaRoll); _mav_put_float(buf, 72, z1_exp); _mav_put_float(buf, 76, z2_exp); _mav_put_float(buf, 80, ThermalGSNorth); _mav_put_float(buf, 84, ThermalGSEast); _mav_put_float(buf, 88, TSE_dot); _mav_put_float(buf, 92, DebugVar1); _mav_put_float(buf, 96, DebugVar2); _mav_put_uint8_t(buf, 100, ControlMode); _mav_put_uint8_t(buf, 101, valid); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN); #else mavlink_fw_soaring_data_t packet; packet.timestamp = timestamp; packet.timestampModeChanged = timestampModeChanged; packet.xW = xW; packet.xR = xR; packet.xLat = xLat; packet.xLon = xLon; packet.VarW = VarW; packet.VarR = VarR; packet.VarLat = VarLat; packet.VarLon = VarLon; packet.LoiterRadius = LoiterRadius; packet.LoiterDirection = LoiterDirection; packet.DistToSoarPoint = DistToSoarPoint; packet.vSinkExp = vSinkExp; packet.z1_LocalUpdraftSpeed = z1_LocalUpdraftSpeed; packet.z2_DeltaRoll = z2_DeltaRoll; packet.z1_exp = z1_exp; packet.z2_exp = z2_exp; packet.ThermalGSNorth = ThermalGSNorth; packet.ThermalGSEast = ThermalGSEast; packet.TSE_dot = TSE_dot; packet.DebugVar1 = DebugVar1; packet.DebugVar2 = DebugVar2; packet.ControlMode = ControlMode; packet.valid = valid; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN); #endif msg->msgid = MAVLINK_MSG_ID_FW_SOARING_DATA; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC); } /** * @brief Pack a fw_soaring_data 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 timestamp [ms] Timestamp * @param timestampModeChanged [ms] Timestamp since last mode change * @param xW [m/s] Thermal core updraft strength * @param xR [m] Thermal radius * @param xLat [deg] Thermal center latitude * @param xLon [deg] Thermal center longitude * @param VarW Variance W * @param VarR Variance R * @param VarLat Variance Lat * @param VarLon Variance Lon * @param LoiterRadius [m] Suggested loiter radius * @param LoiterDirection Suggested loiter direction * @param DistToSoarPoint [m] Distance to soar point * @param vSinkExp [m/s] Expected sink rate at current airspeed, roll and throttle * @param z1_LocalUpdraftSpeed [m/s] Measurement / updraft speed at current/local airplane position * @param z2_DeltaRoll [deg] Measurement / roll angle tracking error * @param z1_exp Expected measurement 1 * @param z2_exp Expected measurement 2 * @param ThermalGSNorth [m/s] Thermal drift (from estimator prediction step only) * @param ThermalGSEast [m/s] Thermal drift (from estimator prediction step only) * @param TSE_dot [m/s] Total specific energy change (filtered) * @param DebugVar1 Debug variable 1 * @param DebugVar2 Debug variable 2 * @param ControlMode Control Mode [-] * @param valid Data valid [-] * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_fw_soaring_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp,uint64_t timestampModeChanged,float xW,float xR,float xLat,float xLon,float VarW,float VarR,float VarLat,float VarLon,float LoiterRadius,float LoiterDirection,float DistToSoarPoint,float vSinkExp,float z1_LocalUpdraftSpeed,float z2_DeltaRoll,float z1_exp,float z2_exp,float ThermalGSNorth,float ThermalGSEast,float TSE_dot,float DebugVar1,float DebugVar2,uint8_t ControlMode,uint8_t valid) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_FW_SOARING_DATA_LEN]; _mav_put_uint64_t(buf, 0, timestamp); _mav_put_uint64_t(buf, 8, timestampModeChanged); _mav_put_float(buf, 16, xW); _mav_put_float(buf, 20, xR); _mav_put_float(buf, 24, xLat); _mav_put_float(buf, 28, xLon); _mav_put_float(buf, 32, VarW); _mav_put_float(buf, 36, VarR); _mav_put_float(buf, 40, VarLat); _mav_put_float(buf, 44, VarLon); _mav_put_float(buf, 48, LoiterRadius); _mav_put_float(buf, 52, LoiterDirection); _mav_put_float(buf, 56, DistToSoarPoint); _mav_put_float(buf, 60, vSinkExp); _mav_put_float(buf, 64, z1_LocalUpdraftSpeed); _mav_put_float(buf, 68, z2_DeltaRoll); _mav_put_float(buf, 72, z1_exp); _mav_put_float(buf, 76, z2_exp); _mav_put_float(buf, 80, ThermalGSNorth); _mav_put_float(buf, 84, ThermalGSEast); _mav_put_float(buf, 88, TSE_dot); _mav_put_float(buf, 92, DebugVar1); _mav_put_float(buf, 96, DebugVar2); _mav_put_uint8_t(buf, 100, ControlMode); _mav_put_uint8_t(buf, 101, valid); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN); #else mavlink_fw_soaring_data_t packet; packet.timestamp = timestamp; packet.timestampModeChanged = timestampModeChanged; packet.xW = xW; packet.xR = xR; packet.xLat = xLat; packet.xLon = xLon; packet.VarW = VarW; packet.VarR = VarR; packet.VarLat = VarLat; packet.VarLon = VarLon; packet.LoiterRadius = LoiterRadius; packet.LoiterDirection = LoiterDirection; packet.DistToSoarPoint = DistToSoarPoint; packet.vSinkExp = vSinkExp; packet.z1_LocalUpdraftSpeed = z1_LocalUpdraftSpeed; packet.z2_DeltaRoll = z2_DeltaRoll; packet.z1_exp = z1_exp; packet.z2_exp = z2_exp; packet.ThermalGSNorth = ThermalGSNorth; packet.ThermalGSEast = ThermalGSEast; packet.TSE_dot = TSE_dot; packet.DebugVar1 = DebugVar1; packet.DebugVar2 = DebugVar2; packet.ControlMode = ControlMode; packet.valid = valid; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN); #endif msg->msgid = MAVLINK_MSG_ID_FW_SOARING_DATA; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC); } /** * @brief Encode a fw_soaring_data 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 fw_soaring_data C-struct to read the message contents from */ static inline uint16_t mavlink_msg_fw_soaring_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fw_soaring_data_t* fw_soaring_data) { return mavlink_msg_fw_soaring_data_pack(system_id, component_id, msg, fw_soaring_data->timestamp, fw_soaring_data->timestampModeChanged, fw_soaring_data->xW, fw_soaring_data->xR, fw_soaring_data->xLat, fw_soaring_data->xLon, fw_soaring_data->VarW, fw_soaring_data->VarR, fw_soaring_data->VarLat, fw_soaring_data->VarLon, fw_soaring_data->LoiterRadius, fw_soaring_data->LoiterDirection, fw_soaring_data->DistToSoarPoint, fw_soaring_data->vSinkExp, fw_soaring_data->z1_LocalUpdraftSpeed, fw_soaring_data->z2_DeltaRoll, fw_soaring_data->z1_exp, fw_soaring_data->z2_exp, fw_soaring_data->ThermalGSNorth, fw_soaring_data->ThermalGSEast, fw_soaring_data->TSE_dot, fw_soaring_data->DebugVar1, fw_soaring_data->DebugVar2, fw_soaring_data->ControlMode, fw_soaring_data->valid); } /** * @brief Encode a fw_soaring_data 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 fw_soaring_data C-struct to read the message contents from */ static inline uint16_t mavlink_msg_fw_soaring_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fw_soaring_data_t* fw_soaring_data) { return mavlink_msg_fw_soaring_data_pack_chan(system_id, component_id, chan, msg, fw_soaring_data->timestamp, fw_soaring_data->timestampModeChanged, fw_soaring_data->xW, fw_soaring_data->xR, fw_soaring_data->xLat, fw_soaring_data->xLon, fw_soaring_data->VarW, fw_soaring_data->VarR, fw_soaring_data->VarLat, fw_soaring_data->VarLon, fw_soaring_data->LoiterRadius, fw_soaring_data->LoiterDirection, fw_soaring_data->DistToSoarPoint, fw_soaring_data->vSinkExp, fw_soaring_data->z1_LocalUpdraftSpeed, fw_soaring_data->z2_DeltaRoll, fw_soaring_data->z1_exp, fw_soaring_data->z2_exp, fw_soaring_data->ThermalGSNorth, fw_soaring_data->ThermalGSEast, fw_soaring_data->TSE_dot, fw_soaring_data->DebugVar1, fw_soaring_data->DebugVar2, fw_soaring_data->ControlMode, fw_soaring_data->valid); } /** * @brief Send a fw_soaring_data message * @param chan MAVLink channel to send the message * * @param timestamp [ms] Timestamp * @param timestampModeChanged [ms] Timestamp since last mode change * @param xW [m/s] Thermal core updraft strength * @param xR [m] Thermal radius * @param xLat [deg] Thermal center latitude * @param xLon [deg] Thermal center longitude * @param VarW Variance W * @param VarR Variance R * @param VarLat Variance Lat * @param VarLon Variance Lon * @param LoiterRadius [m] Suggested loiter radius * @param LoiterDirection Suggested loiter direction * @param DistToSoarPoint [m] Distance to soar point * @param vSinkExp [m/s] Expected sink rate at current airspeed, roll and throttle * @param z1_LocalUpdraftSpeed [m/s] Measurement / updraft speed at current/local airplane position * @param z2_DeltaRoll [deg] Measurement / roll angle tracking error * @param z1_exp Expected measurement 1 * @param z2_exp Expected measurement 2 * @param ThermalGSNorth [m/s] Thermal drift (from estimator prediction step only) * @param ThermalGSEast [m/s] Thermal drift (from estimator prediction step only) * @param TSE_dot [m/s] Total specific energy change (filtered) * @param DebugVar1 Debug variable 1 * @param DebugVar2 Debug variable 2 * @param ControlMode Control Mode [-] * @param valid Data valid [-] */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_fw_soaring_data_send(mavlink_channel_t chan, uint64_t timestamp, uint64_t timestampModeChanged, float xW, float xR, float xLat, float xLon, float VarW, float VarR, float VarLat, float VarLon, float LoiterRadius, float LoiterDirection, float DistToSoarPoint, float vSinkExp, float z1_LocalUpdraftSpeed, float z2_DeltaRoll, float z1_exp, float z2_exp, float ThermalGSNorth, float ThermalGSEast, float TSE_dot, float DebugVar1, float DebugVar2, uint8_t ControlMode, uint8_t valid) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_FW_SOARING_DATA_LEN]; _mav_put_uint64_t(buf, 0, timestamp); _mav_put_uint64_t(buf, 8, timestampModeChanged); _mav_put_float(buf, 16, xW); _mav_put_float(buf, 20, xR); _mav_put_float(buf, 24, xLat); _mav_put_float(buf, 28, xLon); _mav_put_float(buf, 32, VarW); _mav_put_float(buf, 36, VarR); _mav_put_float(buf, 40, VarLat); _mav_put_float(buf, 44, VarLon); _mav_put_float(buf, 48, LoiterRadius); _mav_put_float(buf, 52, LoiterDirection); _mav_put_float(buf, 56, DistToSoarPoint); _mav_put_float(buf, 60, vSinkExp); _mav_put_float(buf, 64, z1_LocalUpdraftSpeed); _mav_put_float(buf, 68, z2_DeltaRoll); _mav_put_float(buf, 72, z1_exp); _mav_put_float(buf, 76, z2_exp); _mav_put_float(buf, 80, ThermalGSNorth); _mav_put_float(buf, 84, ThermalGSEast); _mav_put_float(buf, 88, TSE_dot); _mav_put_float(buf, 92, DebugVar1); _mav_put_float(buf, 96, DebugVar2); _mav_put_uint8_t(buf, 100, ControlMode); _mav_put_uint8_t(buf, 101, valid); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_SOARING_DATA, buf, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC); #else mavlink_fw_soaring_data_t packet; packet.timestamp = timestamp; packet.timestampModeChanged = timestampModeChanged; packet.xW = xW; packet.xR = xR; packet.xLat = xLat; packet.xLon = xLon; packet.VarW = VarW; packet.VarR = VarR; packet.VarLat = VarLat; packet.VarLon = VarLon; packet.LoiterRadius = LoiterRadius; packet.LoiterDirection = LoiterDirection; packet.DistToSoarPoint = DistToSoarPoint; packet.vSinkExp = vSinkExp; packet.z1_LocalUpdraftSpeed = z1_LocalUpdraftSpeed; packet.z2_DeltaRoll = z2_DeltaRoll; packet.z1_exp = z1_exp; packet.z2_exp = z2_exp; packet.ThermalGSNorth = ThermalGSNorth; packet.ThermalGSEast = ThermalGSEast; packet.TSE_dot = TSE_dot; packet.DebugVar1 = DebugVar1; packet.DebugVar2 = DebugVar2; packet.ControlMode = ControlMode; packet.valid = valid; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_SOARING_DATA, (const char *)&packet, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC); #endif } /** * @brief Send a fw_soaring_data message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_fw_soaring_data_send_struct(mavlink_channel_t chan, const mavlink_fw_soaring_data_t* fw_soaring_data) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_fw_soaring_data_send(chan, fw_soaring_data->timestamp, fw_soaring_data->timestampModeChanged, fw_soaring_data->xW, fw_soaring_data->xR, fw_soaring_data->xLat, fw_soaring_data->xLon, fw_soaring_data->VarW, fw_soaring_data->VarR, fw_soaring_data->VarLat, fw_soaring_data->VarLon, fw_soaring_data->LoiterRadius, fw_soaring_data->LoiterDirection, fw_soaring_data->DistToSoarPoint, fw_soaring_data->vSinkExp, fw_soaring_data->z1_LocalUpdraftSpeed, fw_soaring_data->z2_DeltaRoll, fw_soaring_data->z1_exp, fw_soaring_data->z2_exp, fw_soaring_data->ThermalGSNorth, fw_soaring_data->ThermalGSEast, fw_soaring_data->TSE_dot, fw_soaring_data->DebugVar1, fw_soaring_data->DebugVar2, fw_soaring_data->ControlMode, fw_soaring_data->valid); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_SOARING_DATA, (const char *)fw_soaring_data, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC); #endif } #if MAVLINK_MSG_ID_FW_SOARING_DATA_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_fw_soaring_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, uint64_t timestampModeChanged, float xW, float xR, float xLat, float xLon, float VarW, float VarR, float VarLat, float VarLon, float LoiterRadius, float LoiterDirection, float DistToSoarPoint, float vSinkExp, float z1_LocalUpdraftSpeed, float z2_DeltaRoll, float z1_exp, float z2_exp, float ThermalGSNorth, float ThermalGSEast, float TSE_dot, float DebugVar1, float DebugVar2, uint8_t ControlMode, uint8_t valid) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, timestamp); _mav_put_uint64_t(buf, 8, timestampModeChanged); _mav_put_float(buf, 16, xW); _mav_put_float(buf, 20, xR); _mav_put_float(buf, 24, xLat); _mav_put_float(buf, 28, xLon); _mav_put_float(buf, 32, VarW); _mav_put_float(buf, 36, VarR); _mav_put_float(buf, 40, VarLat); _mav_put_float(buf, 44, VarLon); _mav_put_float(buf, 48, LoiterRadius); _mav_put_float(buf, 52, LoiterDirection); _mav_put_float(buf, 56, DistToSoarPoint); _mav_put_float(buf, 60, vSinkExp); _mav_put_float(buf, 64, z1_LocalUpdraftSpeed); _mav_put_float(buf, 68, z2_DeltaRoll); _mav_put_float(buf, 72, z1_exp); _mav_put_float(buf, 76, z2_exp); _mav_put_float(buf, 80, ThermalGSNorth); _mav_put_float(buf, 84, ThermalGSEast); _mav_put_float(buf, 88, TSE_dot); _mav_put_float(buf, 92, DebugVar1); _mav_put_float(buf, 96, DebugVar2); _mav_put_uint8_t(buf, 100, ControlMode); _mav_put_uint8_t(buf, 101, valid); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_SOARING_DATA, buf, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC); #else mavlink_fw_soaring_data_t *packet = (mavlink_fw_soaring_data_t *)msgbuf; packet->timestamp = timestamp; packet->timestampModeChanged = timestampModeChanged; packet->xW = xW; packet->xR = xR; packet->xLat = xLat; packet->xLon = xLon; packet->VarW = VarW; packet->VarR = VarR; packet->VarLat = VarLat; packet->VarLon = VarLon; packet->LoiterRadius = LoiterRadius; packet->LoiterDirection = LoiterDirection; packet->DistToSoarPoint = DistToSoarPoint; packet->vSinkExp = vSinkExp; packet->z1_LocalUpdraftSpeed = z1_LocalUpdraftSpeed; packet->z2_DeltaRoll = z2_DeltaRoll; packet->z1_exp = z1_exp; packet->z2_exp = z2_exp; packet->ThermalGSNorth = ThermalGSNorth; packet->ThermalGSEast = ThermalGSEast; packet->TSE_dot = TSE_dot; packet->DebugVar1 = DebugVar1; packet->DebugVar2 = DebugVar2; packet->ControlMode = ControlMode; packet->valid = valid; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FW_SOARING_DATA, (const char *)packet, MAVLINK_MSG_ID_FW_SOARING_DATA_MIN_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN, MAVLINK_MSG_ID_FW_SOARING_DATA_CRC); #endif } #endif #endif // MESSAGE FW_SOARING_DATA UNPACKING /** * @brief Get field timestamp from fw_soaring_data message * * @return [ms] Timestamp */ static inline uint64_t mavlink_msg_fw_soaring_data_get_timestamp(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field timestampModeChanged from fw_soaring_data message * * @return [ms] Timestamp since last mode change */ static inline uint64_t mavlink_msg_fw_soaring_data_get_timestampModeChanged(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 8); } /** * @brief Get field xW from fw_soaring_data message * * @return [m/s] Thermal core updraft strength */ static inline float mavlink_msg_fw_soaring_data_get_xW(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field xR from fw_soaring_data message * * @return [m] Thermal radius */ static inline float mavlink_msg_fw_soaring_data_get_xR(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field xLat from fw_soaring_data message * * @return [deg] Thermal center latitude */ static inline float mavlink_msg_fw_soaring_data_get_xLat(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field xLon from fw_soaring_data message * * @return [deg] Thermal center longitude */ static inline float mavlink_msg_fw_soaring_data_get_xLon(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field VarW from fw_soaring_data message * * @return Variance W */ static inline float mavlink_msg_fw_soaring_data_get_VarW(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Get field VarR from fw_soaring_data message * * @return Variance R */ static inline float mavlink_msg_fw_soaring_data_get_VarR(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 36); } /** * @brief Get field VarLat from fw_soaring_data message * * @return Variance Lat */ static inline float mavlink_msg_fw_soaring_data_get_VarLat(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 40); } /** * @brief Get field VarLon from fw_soaring_data message * * @return Variance Lon */ static inline float mavlink_msg_fw_soaring_data_get_VarLon(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 44); } /** * @brief Get field LoiterRadius from fw_soaring_data message * * @return [m] Suggested loiter radius */ static inline float mavlink_msg_fw_soaring_data_get_LoiterRadius(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 48); } /** * @brief Get field LoiterDirection from fw_soaring_data message * * @return Suggested loiter direction */ static inline float mavlink_msg_fw_soaring_data_get_LoiterDirection(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 52); } /** * @brief Get field DistToSoarPoint from fw_soaring_data message * * @return [m] Distance to soar point */ static inline float mavlink_msg_fw_soaring_data_get_DistToSoarPoint(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 56); } /** * @brief Get field vSinkExp from fw_soaring_data message * * @return [m/s] Expected sink rate at current airspeed, roll and throttle */ static inline float mavlink_msg_fw_soaring_data_get_vSinkExp(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 60); } /** * @brief Get field z1_LocalUpdraftSpeed from fw_soaring_data message * * @return [m/s] Measurement / updraft speed at current/local airplane position */ static inline float mavlink_msg_fw_soaring_data_get_z1_LocalUpdraftSpeed(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 64); } /** * @brief Get field z2_DeltaRoll from fw_soaring_data message * * @return [deg] Measurement / roll angle tracking error */ static inline float mavlink_msg_fw_soaring_data_get_z2_DeltaRoll(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 68); } /** * @brief Get field z1_exp from fw_soaring_data message * * @return Expected measurement 1 */ static inline float mavlink_msg_fw_soaring_data_get_z1_exp(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 72); } /** * @brief Get field z2_exp from fw_soaring_data message * * @return Expected measurement 2 */ static inline float mavlink_msg_fw_soaring_data_get_z2_exp(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 76); } /** * @brief Get field ThermalGSNorth from fw_soaring_data message * * @return [m/s] Thermal drift (from estimator prediction step only) */ static inline float mavlink_msg_fw_soaring_data_get_ThermalGSNorth(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 80); } /** * @brief Get field ThermalGSEast from fw_soaring_data message * * @return [m/s] Thermal drift (from estimator prediction step only) */ static inline float mavlink_msg_fw_soaring_data_get_ThermalGSEast(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 84); } /** * @brief Get field TSE_dot from fw_soaring_data message * * @return [m/s] Total specific energy change (filtered) */ static inline float mavlink_msg_fw_soaring_data_get_TSE_dot(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 88); } /** * @brief Get field DebugVar1 from fw_soaring_data message * * @return Debug variable 1 */ static inline float mavlink_msg_fw_soaring_data_get_DebugVar1(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 92); } /** * @brief Get field DebugVar2 from fw_soaring_data message * * @return Debug variable 2 */ static inline float mavlink_msg_fw_soaring_data_get_DebugVar2(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 96); } /** * @brief Get field ControlMode from fw_soaring_data message * * @return Control Mode [-] */ static inline uint8_t mavlink_msg_fw_soaring_data_get_ControlMode(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 100); } /** * @brief Get field valid from fw_soaring_data message * * @return Data valid [-] */ static inline uint8_t mavlink_msg_fw_soaring_data_get_valid(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 101); } /** * @brief Decode a fw_soaring_data message into a struct * * @param msg The message to decode * @param fw_soaring_data C-struct to decode the message contents into */ static inline void mavlink_msg_fw_soaring_data_decode(const mavlink_message_t* msg, mavlink_fw_soaring_data_t* fw_soaring_data) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS fw_soaring_data->timestamp = mavlink_msg_fw_soaring_data_get_timestamp(msg); fw_soaring_data->timestampModeChanged = mavlink_msg_fw_soaring_data_get_timestampModeChanged(msg); fw_soaring_data->xW = mavlink_msg_fw_soaring_data_get_xW(msg); fw_soaring_data->xR = mavlink_msg_fw_soaring_data_get_xR(msg); fw_soaring_data->xLat = mavlink_msg_fw_soaring_data_get_xLat(msg); fw_soaring_data->xLon = mavlink_msg_fw_soaring_data_get_xLon(msg); fw_soaring_data->VarW = mavlink_msg_fw_soaring_data_get_VarW(msg); fw_soaring_data->VarR = mavlink_msg_fw_soaring_data_get_VarR(msg); fw_soaring_data->VarLat = mavlink_msg_fw_soaring_data_get_VarLat(msg); fw_soaring_data->VarLon = mavlink_msg_fw_soaring_data_get_VarLon(msg); fw_soaring_data->LoiterRadius = mavlink_msg_fw_soaring_data_get_LoiterRadius(msg); fw_soaring_data->LoiterDirection = mavlink_msg_fw_soaring_data_get_LoiterDirection(msg); fw_soaring_data->DistToSoarPoint = mavlink_msg_fw_soaring_data_get_DistToSoarPoint(msg); fw_soaring_data->vSinkExp = mavlink_msg_fw_soaring_data_get_vSinkExp(msg); fw_soaring_data->z1_LocalUpdraftSpeed = mavlink_msg_fw_soaring_data_get_z1_LocalUpdraftSpeed(msg); fw_soaring_data->z2_DeltaRoll = mavlink_msg_fw_soaring_data_get_z2_DeltaRoll(msg); fw_soaring_data->z1_exp = mavlink_msg_fw_soaring_data_get_z1_exp(msg); fw_soaring_data->z2_exp = mavlink_msg_fw_soaring_data_get_z2_exp(msg); fw_soaring_data->ThermalGSNorth = mavlink_msg_fw_soaring_data_get_ThermalGSNorth(msg); fw_soaring_data->ThermalGSEast = mavlink_msg_fw_soaring_data_get_ThermalGSEast(msg); fw_soaring_data->TSE_dot = mavlink_msg_fw_soaring_data_get_TSE_dot(msg); fw_soaring_data->DebugVar1 = mavlink_msg_fw_soaring_data_get_DebugVar1(msg); fw_soaring_data->DebugVar2 = mavlink_msg_fw_soaring_data_get_DebugVar2(msg); fw_soaring_data->ControlMode = mavlink_msg_fw_soaring_data_get_ControlMode(msg); fw_soaring_data->valid = mavlink_msg_fw_soaring_data_get_valid(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_FW_SOARING_DATA_LEN? msg->len : MAVLINK_MSG_ID_FW_SOARING_DATA_LEN; memset(fw_soaring_data, 0, MAVLINK_MSG_ID_FW_SOARING_DATA_LEN); memcpy(fw_soaring_data, _MAV_PAYLOAD(msg), len); #endif }