1dff1bfd33
【原 因】：更全更新 【过 程】： 【影 响】： # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
364 lines
14 KiB
C
364 lines
14 KiB
C
#pragma once
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// MESSAGE EKF_EXT PACKING
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#define MAVLINK_MSG_ID_EKF_EXT 206
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MAVPACKED(
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typedef struct __mavlink_ekf_ext_t {
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uint64_t timestamp; /*< [us] Time since system start*/
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float Windspeed; /*< [m/s] Magnitude of wind velocity (in lateral inertial plane)*/
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float WindDir; /*< [rad] Wind heading angle from North*/
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float WindZ; /*< [m/s] Z (Down) component of inertial wind velocity*/
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float Airspeed; /*< [m/s] Magnitude of air velocity*/
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float beta; /*< [rad] Sideslip angle*/
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float alpha; /*< [rad] Angle of attack*/
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}) mavlink_ekf_ext_t;
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#define MAVLINK_MSG_ID_EKF_EXT_LEN 32
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#define MAVLINK_MSG_ID_EKF_EXT_MIN_LEN 32
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#define MAVLINK_MSG_ID_206_LEN 32
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#define MAVLINK_MSG_ID_206_MIN_LEN 32
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#define MAVLINK_MSG_ID_EKF_EXT_CRC 64
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#define MAVLINK_MSG_ID_206_CRC 64
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_EKF_EXT { \
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206, \
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"EKF_EXT", \
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7, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ekf_ext_t, timestamp) }, \
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{ "Windspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ekf_ext_t, Windspeed) }, \
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{ "WindDir", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ekf_ext_t, WindDir) }, \
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{ "WindZ", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ekf_ext_t, WindZ) }, \
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{ "Airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ekf_ext_t, Airspeed) }, \
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{ "beta", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ekf_ext_t, beta) }, \
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{ "alpha", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ekf_ext_t, alpha) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_EKF_EXT { \
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"EKF_EXT", \
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7, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_ekf_ext_t, timestamp) }, \
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{ "Windspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ekf_ext_t, Windspeed) }, \
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{ "WindDir", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ekf_ext_t, WindDir) }, \
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{ "WindZ", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ekf_ext_t, WindZ) }, \
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{ "Airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ekf_ext_t, Airspeed) }, \
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{ "beta", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ekf_ext_t, beta) }, \
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{ "alpha", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_ekf_ext_t, alpha) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a ekf_ext 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 timestamp [us] Time since system start
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* @param Windspeed [m/s] Magnitude of wind velocity (in lateral inertial plane)
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* @param WindDir [rad] Wind heading angle from North
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* @param WindZ [m/s] Z (Down) component of inertial wind velocity
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* @param Airspeed [m/s] Magnitude of air velocity
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* @param beta [rad] Sideslip angle
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* @param alpha [rad] Angle of attack
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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_ekf_ext_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t timestamp, float Windspeed, float WindDir, float WindZ, float Airspeed, float beta, float alpha)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_EKF_EXT_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_float(buf, 8, Windspeed);
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_mav_put_float(buf, 12, WindDir);
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_mav_put_float(buf, 16, WindZ);
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_mav_put_float(buf, 20, Airspeed);
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_mav_put_float(buf, 24, beta);
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_mav_put_float(buf, 28, alpha);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_EXT_LEN);
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#else
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mavlink_ekf_ext_t packet;
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packet.timestamp = timestamp;
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packet.Windspeed = Windspeed;
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packet.WindDir = WindDir;
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packet.WindZ = WindZ;
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packet.Airspeed = Airspeed;
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packet.beta = beta;
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packet.alpha = alpha;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_EXT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_EKF_EXT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_EKF_EXT_MIN_LEN, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
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}
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/**
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* @brief Pack a ekf_ext 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 will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param timestamp [us] Time since system start
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* @param Windspeed [m/s] Magnitude of wind velocity (in lateral inertial plane)
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* @param WindDir [rad] Wind heading angle from North
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* @param WindZ [m/s] Z (Down) component of inertial wind velocity
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* @param Airspeed [m/s] Magnitude of air velocity
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* @param beta [rad] Sideslip angle
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* @param alpha [rad] Angle of attack
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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_ekf_ext_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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uint64_t timestamp,float Windspeed,float WindDir,float WindZ,float Airspeed,float beta,float alpha)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_EKF_EXT_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_float(buf, 8, Windspeed);
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_mav_put_float(buf, 12, WindDir);
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_mav_put_float(buf, 16, WindZ);
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_mav_put_float(buf, 20, Airspeed);
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_mav_put_float(buf, 24, beta);
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_mav_put_float(buf, 28, alpha);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_EXT_LEN);
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#else
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mavlink_ekf_ext_t packet;
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packet.timestamp = timestamp;
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packet.Windspeed = Windspeed;
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packet.WindDir = WindDir;
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packet.WindZ = WindZ;
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packet.Airspeed = Airspeed;
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packet.beta = beta;
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packet.alpha = alpha;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_EXT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_EKF_EXT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_EKF_EXT_MIN_LEN, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
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}
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/**
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* @brief Encode a ekf_ext struct
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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 ekf_ext C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ekf_ext_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ekf_ext_t* ekf_ext)
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{
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return mavlink_msg_ekf_ext_pack(system_id, component_id, msg, ekf_ext->timestamp, ekf_ext->Windspeed, ekf_ext->WindDir, ekf_ext->WindZ, ekf_ext->Airspeed, ekf_ext->beta, ekf_ext->alpha);
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}
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/**
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* @brief Encode a ekf_ext struct on a channel
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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 chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param ekf_ext C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ekf_ext_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ekf_ext_t* ekf_ext)
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{
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return mavlink_msg_ekf_ext_pack_chan(system_id, component_id, chan, msg, ekf_ext->timestamp, ekf_ext->Windspeed, ekf_ext->WindDir, ekf_ext->WindZ, ekf_ext->Airspeed, ekf_ext->beta, ekf_ext->alpha);
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}
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/**
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* @brief Send a ekf_ext message
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* @param chan MAVLink channel to send the message
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*
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* @param timestamp [us] Time since system start
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* @param Windspeed [m/s] Magnitude of wind velocity (in lateral inertial plane)
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* @param WindDir [rad] Wind heading angle from North
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* @param WindZ [m/s] Z (Down) component of inertial wind velocity
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* @param Airspeed [m/s] Magnitude of air velocity
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* @param beta [rad] Sideslip angle
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* @param alpha [rad] Angle of attack
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_ekf_ext_send(mavlink_channel_t chan, uint64_t timestamp, float Windspeed, float WindDir, float WindZ, float Airspeed, float beta, float alpha)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_EKF_EXT_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_float(buf, 8, Windspeed);
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_mav_put_float(buf, 12, WindDir);
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_mav_put_float(buf, 16, WindZ);
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_mav_put_float(buf, 20, Airspeed);
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_mav_put_float(buf, 24, beta);
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_mav_put_float(buf, 28, alpha);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, buf, MAVLINK_MSG_ID_EKF_EXT_MIN_LEN, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
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#else
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mavlink_ekf_ext_t packet;
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packet.timestamp = timestamp;
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packet.Windspeed = Windspeed;
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packet.WindDir = WindDir;
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packet.WindZ = WindZ;
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packet.Airspeed = Airspeed;
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packet.beta = beta;
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packet.alpha = alpha;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, (const char *)&packet, MAVLINK_MSG_ID_EKF_EXT_MIN_LEN, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
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#endif
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}
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/**
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* @brief Send a ekf_ext message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_ekf_ext_send_struct(mavlink_channel_t chan, const mavlink_ekf_ext_t* ekf_ext)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_ekf_ext_send(chan, ekf_ext->timestamp, ekf_ext->Windspeed, ekf_ext->WindDir, ekf_ext->WindZ, ekf_ext->Airspeed, ekf_ext->beta, ekf_ext->alpha);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, (const char *)ekf_ext, MAVLINK_MSG_ID_EKF_EXT_MIN_LEN, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_EKF_EXT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_ekf_ext_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, float Windspeed, float WindDir, float WindZ, float Airspeed, float beta, float alpha)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_float(buf, 8, Windspeed);
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_mav_put_float(buf, 12, WindDir);
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_mav_put_float(buf, 16, WindZ);
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_mav_put_float(buf, 20, Airspeed);
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_mav_put_float(buf, 24, beta);
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_mav_put_float(buf, 28, alpha);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, buf, MAVLINK_MSG_ID_EKF_EXT_MIN_LEN, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
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#else
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mavlink_ekf_ext_t *packet = (mavlink_ekf_ext_t *)msgbuf;
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packet->timestamp = timestamp;
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packet->Windspeed = Windspeed;
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packet->WindDir = WindDir;
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packet->WindZ = WindZ;
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packet->Airspeed = Airspeed;
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packet->beta = beta;
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packet->alpha = alpha;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_EXT, (const char *)packet, MAVLINK_MSG_ID_EKF_EXT_MIN_LEN, MAVLINK_MSG_ID_EKF_EXT_LEN, MAVLINK_MSG_ID_EKF_EXT_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE EKF_EXT UNPACKING
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/**
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* @brief Get field timestamp from ekf_ext message
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*
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* @return [us] Time since system start
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*/
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static inline uint64_t mavlink_msg_ekf_ext_get_timestamp(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field Windspeed from ekf_ext message
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*
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* @return [m/s] Magnitude of wind velocity (in lateral inertial plane)
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*/
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static inline float mavlink_msg_ekf_ext_get_Windspeed(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 WindDir from ekf_ext message
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*
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* @return [rad] Wind heading angle from North
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*/
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static inline float mavlink_msg_ekf_ext_get_WindDir(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 WindZ from ekf_ext message
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*
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* @return [m/s] Z (Down) component of inertial wind velocity
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*/
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static inline float mavlink_msg_ekf_ext_get_WindZ(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 Airspeed from ekf_ext message
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*
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* @return [m/s] Magnitude of air velocity
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*/
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static inline float mavlink_msg_ekf_ext_get_Airspeed(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 Get field beta from ekf_ext message
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*
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* @return [rad] Sideslip angle
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*/
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static inline float mavlink_msg_ekf_ext_get_beta(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Get field alpha from ekf_ext message
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*
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* @return [rad] Angle of attack
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*/
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static inline float mavlink_msg_ekf_ext_get_alpha(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 28);
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}
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/**
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* @brief Decode a ekf_ext message into a struct
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*
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* @param msg The message to decode
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* @param ekf_ext C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_ekf_ext_decode(const mavlink_message_t* msg, mavlink_ekf_ext_t* ekf_ext)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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ekf_ext->timestamp = mavlink_msg_ekf_ext_get_timestamp(msg);
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ekf_ext->Windspeed = mavlink_msg_ekf_ext_get_Windspeed(msg);
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ekf_ext->WindDir = mavlink_msg_ekf_ext_get_WindDir(msg);
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ekf_ext->WindZ = mavlink_msg_ekf_ext_get_WindZ(msg);
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ekf_ext->Airspeed = mavlink_msg_ekf_ext_get_Airspeed(msg);
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ekf_ext->beta = mavlink_msg_ekf_ext_get_beta(msg);
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ekf_ext->alpha = mavlink_msg_ekf_ext_get_alpha(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_EKF_EXT_LEN? msg->len : MAVLINK_MSG_ID_EKF_EXT_LEN;
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memset(ekf_ext, 0, MAVLINK_MSG_ID_EKF_EXT_LEN);
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memcpy(ekf_ext, _MAV_PAYLOAD(msg), len);
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#endif
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}
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