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
489 lines
21 KiB
C
489 lines
21 KiB
C
#pragma once
|
|
// MESSAGE SENSOR_OFFSETS PACKING
|
|
|
|
#define MAVLINK_MSG_ID_SENSOR_OFFSETS 150
|
|
|
|
MAVPACKED(
|
|
typedef struct __mavlink_sensor_offsets_t {
|
|
float mag_declination; /*< [rad] Magnetic declination.*/
|
|
int32_t raw_press; /*< Raw pressure from barometer.*/
|
|
int32_t raw_temp; /*< Raw temperature from barometer.*/
|
|
float gyro_cal_x; /*< Gyro X calibration.*/
|
|
float gyro_cal_y; /*< Gyro Y calibration.*/
|
|
float gyro_cal_z; /*< Gyro Z calibration.*/
|
|
float accel_cal_x; /*< Accel X calibration.*/
|
|
float accel_cal_y; /*< Accel Y calibration.*/
|
|
float accel_cal_z; /*< Accel Z calibration.*/
|
|
int16_t mag_ofs_x; /*< Magnetometer X offset.*/
|
|
int16_t mag_ofs_y; /*< Magnetometer Y offset.*/
|
|
int16_t mag_ofs_z; /*< Magnetometer Z offset.*/
|
|
}) mavlink_sensor_offsets_t;
|
|
|
|
#define MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN 42
|
|
#define MAVLINK_MSG_ID_SENSOR_OFFSETS_MIN_LEN 42
|
|
#define MAVLINK_MSG_ID_150_LEN 42
|
|
#define MAVLINK_MSG_ID_150_MIN_LEN 42
|
|
|
|
#define MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC 134
|
|
#define MAVLINK_MSG_ID_150_CRC 134
|
|
|
|
|
|
|
|
#if MAVLINK_COMMAND_24BIT
|
|
#define MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS { \
|
|
150, \
|
|
"SENSOR_OFFSETS", \
|
|
12, \
|
|
{ { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_sensor_offsets_t, mag_ofs_x) }, \
|
|
{ "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_sensor_offsets_t, mag_ofs_y) }, \
|
|
{ "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_sensor_offsets_t, mag_ofs_z) }, \
|
|
{ "mag_declination", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_offsets_t, mag_declination) }, \
|
|
{ "raw_press", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_sensor_offsets_t, raw_press) }, \
|
|
{ "raw_temp", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_sensor_offsets_t, raw_temp) }, \
|
|
{ "gyro_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_offsets_t, gyro_cal_x) }, \
|
|
{ "gyro_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_offsets_t, gyro_cal_y) }, \
|
|
{ "gyro_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_offsets_t, gyro_cal_z) }, \
|
|
{ "accel_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sensor_offsets_t, accel_cal_x) }, \
|
|
{ "accel_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sensor_offsets_t, accel_cal_y) }, \
|
|
{ "accel_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sensor_offsets_t, accel_cal_z) }, \
|
|
} \
|
|
}
|
|
#else
|
|
#define MAVLINK_MESSAGE_INFO_SENSOR_OFFSETS { \
|
|
"SENSOR_OFFSETS", \
|
|
12, \
|
|
{ { "mag_ofs_x", NULL, MAVLINK_TYPE_INT16_T, 0, 36, offsetof(mavlink_sensor_offsets_t, mag_ofs_x) }, \
|
|
{ "mag_ofs_y", NULL, MAVLINK_TYPE_INT16_T, 0, 38, offsetof(mavlink_sensor_offsets_t, mag_ofs_y) }, \
|
|
{ "mag_ofs_z", NULL, MAVLINK_TYPE_INT16_T, 0, 40, offsetof(mavlink_sensor_offsets_t, mag_ofs_z) }, \
|
|
{ "mag_declination", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_offsets_t, mag_declination) }, \
|
|
{ "raw_press", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_sensor_offsets_t, raw_press) }, \
|
|
{ "raw_temp", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_sensor_offsets_t, raw_temp) }, \
|
|
{ "gyro_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_offsets_t, gyro_cal_x) }, \
|
|
{ "gyro_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_offsets_t, gyro_cal_y) }, \
|
|
{ "gyro_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_offsets_t, gyro_cal_z) }, \
|
|
{ "accel_cal_x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_sensor_offsets_t, accel_cal_x) }, \
|
|
{ "accel_cal_y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_sensor_offsets_t, accel_cal_y) }, \
|
|
{ "accel_cal_z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_sensor_offsets_t, accel_cal_z) }, \
|
|
} \
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @brief Pack a sensor_offsets 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 mag_ofs_x Magnetometer X offset.
|
|
* @param mag_ofs_y Magnetometer Y offset.
|
|
* @param mag_ofs_z Magnetometer Z offset.
|
|
* @param mag_declination [rad] Magnetic declination.
|
|
* @param raw_press Raw pressure from barometer.
|
|
* @param raw_temp Raw temperature from barometer.
|
|
* @param gyro_cal_x Gyro X calibration.
|
|
* @param gyro_cal_y Gyro Y calibration.
|
|
* @param gyro_cal_z Gyro Z calibration.
|
|
* @param accel_cal_x Accel X calibration.
|
|
* @param accel_cal_y Accel Y calibration.
|
|
* @param accel_cal_z Accel Z calibration.
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_sensor_offsets_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
|
int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN];
|
|
_mav_put_float(buf, 0, mag_declination);
|
|
_mav_put_int32_t(buf, 4, raw_press);
|
|
_mav_put_int32_t(buf, 8, raw_temp);
|
|
_mav_put_float(buf, 12, gyro_cal_x);
|
|
_mav_put_float(buf, 16, gyro_cal_y);
|
|
_mav_put_float(buf, 20, gyro_cal_z);
|
|
_mav_put_float(buf, 24, accel_cal_x);
|
|
_mav_put_float(buf, 28, accel_cal_y);
|
|
_mav_put_float(buf, 32, accel_cal_z);
|
|
_mav_put_int16_t(buf, 36, mag_ofs_x);
|
|
_mav_put_int16_t(buf, 38, mag_ofs_y);
|
|
_mav_put_int16_t(buf, 40, mag_ofs_z);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
|
|
#else
|
|
mavlink_sensor_offsets_t packet;
|
|
packet.mag_declination = mag_declination;
|
|
packet.raw_press = raw_press;
|
|
packet.raw_temp = raw_temp;
|
|
packet.gyro_cal_x = gyro_cal_x;
|
|
packet.gyro_cal_y = gyro_cal_y;
|
|
packet.gyro_cal_z = gyro_cal_z;
|
|
packet.accel_cal_x = accel_cal_x;
|
|
packet.accel_cal_y = accel_cal_y;
|
|
packet.accel_cal_z = accel_cal_z;
|
|
packet.mag_ofs_x = mag_ofs_x;
|
|
packet.mag_ofs_y = mag_ofs_y;
|
|
packet.mag_ofs_z = mag_ofs_z;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SENSOR_OFFSETS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a sensor_offsets 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 mag_ofs_x Magnetometer X offset.
|
|
* @param mag_ofs_y Magnetometer Y offset.
|
|
* @param mag_ofs_z Magnetometer Z offset.
|
|
* @param mag_declination [rad] Magnetic declination.
|
|
* @param raw_press Raw pressure from barometer.
|
|
* @param raw_temp Raw temperature from barometer.
|
|
* @param gyro_cal_x Gyro X calibration.
|
|
* @param gyro_cal_y Gyro Y calibration.
|
|
* @param gyro_cal_z Gyro Z calibration.
|
|
* @param accel_cal_x Accel X calibration.
|
|
* @param accel_cal_y Accel Y calibration.
|
|
* @param accel_cal_z Accel Z calibration.
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_sensor_offsets_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
|
mavlink_message_t* msg,
|
|
int16_t mag_ofs_x,int16_t mag_ofs_y,int16_t mag_ofs_z,float mag_declination,int32_t raw_press,int32_t raw_temp,float gyro_cal_x,float gyro_cal_y,float gyro_cal_z,float accel_cal_x,float accel_cal_y,float accel_cal_z)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN];
|
|
_mav_put_float(buf, 0, mag_declination);
|
|
_mav_put_int32_t(buf, 4, raw_press);
|
|
_mav_put_int32_t(buf, 8, raw_temp);
|
|
_mav_put_float(buf, 12, gyro_cal_x);
|
|
_mav_put_float(buf, 16, gyro_cal_y);
|
|
_mav_put_float(buf, 20, gyro_cal_z);
|
|
_mav_put_float(buf, 24, accel_cal_x);
|
|
_mav_put_float(buf, 28, accel_cal_y);
|
|
_mav_put_float(buf, 32, accel_cal_z);
|
|
_mav_put_int16_t(buf, 36, mag_ofs_x);
|
|
_mav_put_int16_t(buf, 38, mag_ofs_y);
|
|
_mav_put_int16_t(buf, 40, mag_ofs_z);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
|
|
#else
|
|
mavlink_sensor_offsets_t packet;
|
|
packet.mag_declination = mag_declination;
|
|
packet.raw_press = raw_press;
|
|
packet.raw_temp = raw_temp;
|
|
packet.gyro_cal_x = gyro_cal_x;
|
|
packet.gyro_cal_y = gyro_cal_y;
|
|
packet.gyro_cal_z = gyro_cal_z;
|
|
packet.accel_cal_x = accel_cal_x;
|
|
packet.accel_cal_y = accel_cal_y;
|
|
packet.accel_cal_z = accel_cal_z;
|
|
packet.mag_ofs_x = mag_ofs_x;
|
|
packet.mag_ofs_y = mag_ofs_y;
|
|
packet.mag_ofs_z = mag_ofs_z;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_SENSOR_OFFSETS;
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SENSOR_OFFSETS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a sensor_offsets 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 sensor_offsets C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_sensor_offsets_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
|
|
{
|
|
return mavlink_msg_sensor_offsets_pack(system_id, component_id, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a sensor_offsets 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 sensor_offsets C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_sensor_offsets_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sensor_offsets_t* sensor_offsets)
|
|
{
|
|
return mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, chan, msg, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a sensor_offsets message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param mag_ofs_x Magnetometer X offset.
|
|
* @param mag_ofs_y Magnetometer Y offset.
|
|
* @param mag_ofs_z Magnetometer Z offset.
|
|
* @param mag_declination [rad] Magnetic declination.
|
|
* @param raw_press Raw pressure from barometer.
|
|
* @param raw_temp Raw temperature from barometer.
|
|
* @param gyro_cal_x Gyro X calibration.
|
|
* @param gyro_cal_y Gyro Y calibration.
|
|
* @param gyro_cal_z Gyro Z calibration.
|
|
* @param accel_cal_x Accel X calibration.
|
|
* @param accel_cal_y Accel Y calibration.
|
|
* @param accel_cal_z Accel Z calibration.
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_sensor_offsets_send(mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN];
|
|
_mav_put_float(buf, 0, mag_declination);
|
|
_mav_put_int32_t(buf, 4, raw_press);
|
|
_mav_put_int32_t(buf, 8, raw_temp);
|
|
_mav_put_float(buf, 12, gyro_cal_x);
|
|
_mav_put_float(buf, 16, gyro_cal_y);
|
|
_mav_put_float(buf, 20, gyro_cal_z);
|
|
_mav_put_float(buf, 24, accel_cal_x);
|
|
_mav_put_float(buf, 28, accel_cal_y);
|
|
_mav_put_float(buf, 32, accel_cal_z);
|
|
_mav_put_int16_t(buf, 36, mag_ofs_x);
|
|
_mav_put_int16_t(buf, 38, mag_ofs_y);
|
|
_mav_put_int16_t(buf, 40, mag_ofs_z);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
|
|
#else
|
|
mavlink_sensor_offsets_t packet;
|
|
packet.mag_declination = mag_declination;
|
|
packet.raw_press = raw_press;
|
|
packet.raw_temp = raw_temp;
|
|
packet.gyro_cal_x = gyro_cal_x;
|
|
packet.gyro_cal_y = gyro_cal_y;
|
|
packet.gyro_cal_z = gyro_cal_z;
|
|
packet.accel_cal_x = accel_cal_x;
|
|
packet.accel_cal_y = accel_cal_y;
|
|
packet.accel_cal_z = accel_cal_z;
|
|
packet.mag_ofs_x = mag_ofs_x;
|
|
packet.mag_ofs_y = mag_ofs_y;
|
|
packet.mag_ofs_z = mag_ofs_z;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)&packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a sensor_offsets message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_sensor_offsets_send_struct(mavlink_channel_t chan, const mavlink_sensor_offsets_t* sensor_offsets)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_sensor_offsets_send(chan, sensor_offsets->mag_ofs_x, sensor_offsets->mag_ofs_y, sensor_offsets->mag_ofs_z, sensor_offsets->mag_declination, sensor_offsets->raw_press, sensor_offsets->raw_temp, sensor_offsets->gyro_cal_x, sensor_offsets->gyro_cal_y, sensor_offsets->gyro_cal_z, sensor_offsets->accel_cal_x, sensor_offsets->accel_cal_y, sensor_offsets->accel_cal_z);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)sensor_offsets, MAVLINK_MSG_ID_SENSOR_OFFSETS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_SENSOR_OFFSETS_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_sensor_offsets_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, int16_t mag_ofs_x, int16_t mag_ofs_y, int16_t mag_ofs_z, float mag_declination, int32_t raw_press, int32_t raw_temp, float gyro_cal_x, float gyro_cal_y, float gyro_cal_z, float accel_cal_x, float accel_cal_y, float accel_cal_z)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_float(buf, 0, mag_declination);
|
|
_mav_put_int32_t(buf, 4, raw_press);
|
|
_mav_put_int32_t(buf, 8, raw_temp);
|
|
_mav_put_float(buf, 12, gyro_cal_x);
|
|
_mav_put_float(buf, 16, gyro_cal_y);
|
|
_mav_put_float(buf, 20, gyro_cal_z);
|
|
_mav_put_float(buf, 24, accel_cal_x);
|
|
_mav_put_float(buf, 28, accel_cal_y);
|
|
_mav_put_float(buf, 32, accel_cal_z);
|
|
_mav_put_int16_t(buf, 36, mag_ofs_x);
|
|
_mav_put_int16_t(buf, 38, mag_ofs_y);
|
|
_mav_put_int16_t(buf, 40, mag_ofs_z);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, buf, MAVLINK_MSG_ID_SENSOR_OFFSETS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
|
|
#else
|
|
mavlink_sensor_offsets_t *packet = (mavlink_sensor_offsets_t *)msgbuf;
|
|
packet->mag_declination = mag_declination;
|
|
packet->raw_press = raw_press;
|
|
packet->raw_temp = raw_temp;
|
|
packet->gyro_cal_x = gyro_cal_x;
|
|
packet->gyro_cal_y = gyro_cal_y;
|
|
packet->gyro_cal_z = gyro_cal_z;
|
|
packet->accel_cal_x = accel_cal_x;
|
|
packet->accel_cal_y = accel_cal_y;
|
|
packet->accel_cal_z = accel_cal_z;
|
|
packet->mag_ofs_x = mag_ofs_x;
|
|
packet->mag_ofs_y = mag_ofs_y;
|
|
packet->mag_ofs_z = mag_ofs_z;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_OFFSETS, (const char *)packet, MAVLINK_MSG_ID_SENSOR_OFFSETS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN, MAVLINK_MSG_ID_SENSOR_OFFSETS_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE SENSOR_OFFSETS UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field mag_ofs_x from sensor_offsets message
|
|
*
|
|
* @return Magnetometer X offset.
|
|
*/
|
|
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_x(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field mag_ofs_y from sensor_offsets message
|
|
*
|
|
* @return Magnetometer Y offset.
|
|
*/
|
|
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_y(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 38);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field mag_ofs_z from sensor_offsets message
|
|
*
|
|
* @return Magnetometer Z offset.
|
|
*/
|
|
static inline int16_t mavlink_msg_sensor_offsets_get_mag_ofs_z(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field mag_declination from sensor_offsets message
|
|
*
|
|
* @return [rad] Magnetic declination.
|
|
*/
|
|
static inline float mavlink_msg_sensor_offsets_get_mag_declination(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field raw_press from sensor_offsets message
|
|
*
|
|
* @return Raw pressure from barometer.
|
|
*/
|
|
static inline int32_t mavlink_msg_sensor_offsets_get_raw_press(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field raw_temp from sensor_offsets message
|
|
*
|
|
* @return Raw temperature from barometer.
|
|
*/
|
|
static inline int32_t mavlink_msg_sensor_offsets_get_raw_temp(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field gyro_cal_x from sensor_offsets message
|
|
*
|
|
* @return Gyro X calibration.
|
|
*/
|
|
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_x(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field gyro_cal_y from sensor_offsets message
|
|
*
|
|
* @return Gyro Y calibration.
|
|
*/
|
|
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_y(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field gyro_cal_z from sensor_offsets message
|
|
*
|
|
* @return Gyro Z calibration.
|
|
*/
|
|
static inline float mavlink_msg_sensor_offsets_get_gyro_cal_z(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field accel_cal_x from sensor_offsets message
|
|
*
|
|
* @return Accel X calibration.
|
|
*/
|
|
static inline float mavlink_msg_sensor_offsets_get_accel_cal_x(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field accel_cal_y from sensor_offsets message
|
|
*
|
|
* @return Accel Y calibration.
|
|
*/
|
|
static inline float mavlink_msg_sensor_offsets_get_accel_cal_y(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field accel_cal_z from sensor_offsets message
|
|
*
|
|
* @return Accel Z calibration.
|
|
*/
|
|
static inline float mavlink_msg_sensor_offsets_get_accel_cal_z(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a sensor_offsets message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param sensor_offsets C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_sensor_offsets_decode(const mavlink_message_t* msg, mavlink_sensor_offsets_t* sensor_offsets)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
sensor_offsets->mag_declination = mavlink_msg_sensor_offsets_get_mag_declination(msg);
|
|
sensor_offsets->raw_press = mavlink_msg_sensor_offsets_get_raw_press(msg);
|
|
sensor_offsets->raw_temp = mavlink_msg_sensor_offsets_get_raw_temp(msg);
|
|
sensor_offsets->gyro_cal_x = mavlink_msg_sensor_offsets_get_gyro_cal_x(msg);
|
|
sensor_offsets->gyro_cal_y = mavlink_msg_sensor_offsets_get_gyro_cal_y(msg);
|
|
sensor_offsets->gyro_cal_z = mavlink_msg_sensor_offsets_get_gyro_cal_z(msg);
|
|
sensor_offsets->accel_cal_x = mavlink_msg_sensor_offsets_get_accel_cal_x(msg);
|
|
sensor_offsets->accel_cal_y = mavlink_msg_sensor_offsets_get_accel_cal_y(msg);
|
|
sensor_offsets->accel_cal_z = mavlink_msg_sensor_offsets_get_accel_cal_z(msg);
|
|
sensor_offsets->mag_ofs_x = mavlink_msg_sensor_offsets_get_mag_ofs_x(msg);
|
|
sensor_offsets->mag_ofs_y = mavlink_msg_sensor_offsets_get_mag_ofs_y(msg);
|
|
sensor_offsets->mag_ofs_z = mavlink_msg_sensor_offsets_get_mag_ofs_z(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN? msg->len : MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN;
|
|
memset(sensor_offsets, 0, MAVLINK_MSG_ID_SENSOR_OFFSETS_LEN);
|
|
memcpy(sensor_offsets, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|