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
332 lines
17 KiB
C
332 lines
17 KiB
C
#pragma once
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// MESSAGE ATTITUDE_QUATERNION_COV PACKING
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#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV 61
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MAVPACKED(
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typedef struct __mavlink_attitude_quaternion_cov_t {
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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.*/
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float q[4]; /*< Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)*/
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float rollspeed; /*< [rad/s] Roll angular speed*/
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float pitchspeed; /*< [rad/s] Pitch angular speed*/
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float yawspeed; /*< [rad/s] Yaw angular speed*/
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float covariance[9]; /*< Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.*/
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}) mavlink_attitude_quaternion_cov_t;
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#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN 72
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#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN 72
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#define MAVLINK_MSG_ID_61_LEN 72
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#define MAVLINK_MSG_ID_61_MIN_LEN 72
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#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC 167
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#define MAVLINK_MSG_ID_61_CRC 167
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#define MAVLINK_MSG_ATTITUDE_QUATERNION_COV_FIELD_Q_LEN 4
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#define MAVLINK_MSG_ATTITUDE_QUATERNION_COV_FIELD_COVARIANCE_LEN 9
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION_COV { \
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61, \
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"ATTITUDE_QUATERNION_COV", \
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6, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_attitude_quaternion_cov_t, time_usec) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_attitude_quaternion_cov_t, q) }, \
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{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_cov_t, rollspeed) }, \
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{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_cov_t, pitchspeed) }, \
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{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_quaternion_cov_t, yawspeed) }, \
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{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 36, offsetof(mavlink_attitude_quaternion_cov_t, covariance) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION_COV { \
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"ATTITUDE_QUATERNION_COV", \
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6, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_attitude_quaternion_cov_t, time_usec) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_attitude_quaternion_cov_t, q) }, \
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{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_cov_t, rollspeed) }, \
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{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_cov_t, pitchspeed) }, \
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{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_attitude_quaternion_cov_t, yawspeed) }, \
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{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 36, offsetof(mavlink_attitude_quaternion_cov_t, covariance) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a attitude_quaternion_cov 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 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.
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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* @param rollspeed [rad/s] Roll angular speed
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* @param pitchspeed [rad/s] Pitch angular speed
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* @param yawspeed [rad/s] Yaw angular speed
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* @param covariance Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
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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_attitude_quaternion_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
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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_ATTITUDE_QUATERNION_COV_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 24, rollspeed);
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_mav_put_float(buf, 28, pitchspeed);
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_mav_put_float(buf, 32, yawspeed);
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_mav_put_float_array(buf, 8, q, 4);
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_mav_put_float_array(buf, 36, covariance, 9);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#else
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mavlink_attitude_quaternion_cov_t packet;
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packet.time_usec = time_usec;
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packet.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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}
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/**
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* @brief Pack a attitude_quaternion_cov 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 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.
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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* @param rollspeed [rad/s] Roll angular speed
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* @param pitchspeed [rad/s] Pitch angular speed
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* @param yawspeed [rad/s] Yaw angular speed
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* @param covariance Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
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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_attitude_quaternion_cov_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 time_usec,const float *q,float rollspeed,float pitchspeed,float yawspeed,const float *covariance)
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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_ATTITUDE_QUATERNION_COV_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 24, rollspeed);
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_mav_put_float(buf, 28, pitchspeed);
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_mav_put_float(buf, 32, yawspeed);
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_mav_put_float_array(buf, 8, q, 4);
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_mav_put_float_array(buf, 36, covariance, 9);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#else
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mavlink_attitude_quaternion_cov_t packet;
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packet.time_usec = time_usec;
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packet.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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}
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/**
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* @brief Encode a attitude_quaternion_cov 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 attitude_quaternion_cov C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
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{
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return mavlink_msg_attitude_quaternion_cov_pack(system_id, component_id, msg, attitude_quaternion_cov->time_usec, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
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}
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/**
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* @brief Encode a attitude_quaternion_cov 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 attitude_quaternion_cov C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
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{
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return mavlink_msg_attitude_quaternion_cov_pack_chan(system_id, component_id, chan, msg, attitude_quaternion_cov->time_usec, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
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}
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/**
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* @brief Send a attitude_quaternion_cov message
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* @param chan MAVLink channel to send the message
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*
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* @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.
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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* @param rollspeed [rad/s] Roll angular speed
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* @param pitchspeed [rad/s] Pitch angular speed
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* @param yawspeed [rad/s] Yaw angular speed
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* @param covariance Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_attitude_quaternion_cov_send(mavlink_channel_t chan, uint64_t time_usec, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
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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_ATTITUDE_QUATERNION_COV_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 24, rollspeed);
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_mav_put_float(buf, 28, pitchspeed);
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_mav_put_float(buf, 32, yawspeed);
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_mav_put_float_array(buf, 8, q, 4);
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_mav_put_float_array(buf, 36, covariance, 9);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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#else
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mavlink_attitude_quaternion_cov_t packet;
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packet.time_usec = time_usec;
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packet.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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#endif
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}
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/**
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* @brief Send a attitude_quaternion_cov 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_attitude_quaternion_cov_send_struct(mavlink_channel_t chan, const mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_attitude_quaternion_cov_send(chan, attitude_quaternion_cov->time_usec, attitude_quaternion_cov->q, attitude_quaternion_cov->rollspeed, attitude_quaternion_cov->pitchspeed, attitude_quaternion_cov->yawspeed, attitude_quaternion_cov->covariance);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)attitude_quaternion_cov, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_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_attitude_quaternion_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *q, float rollspeed, float pitchspeed, float yawspeed, const float *covariance)
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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, time_usec);
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_mav_put_float(buf, 24, rollspeed);
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_mav_put_float(buf, 28, pitchspeed);
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_mav_put_float(buf, 32, yawspeed);
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_mav_put_float_array(buf, 8, q, 4);
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_mav_put_float_array(buf, 36, covariance, 9);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_CRC);
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#else
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mavlink_attitude_quaternion_cov_t *packet = (mavlink_attitude_quaternion_cov_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->rollspeed = rollspeed;
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packet->pitchspeed = pitchspeed;
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packet->yawspeed = yawspeed;
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mav_array_memcpy(packet->q, q, sizeof(float)*4);
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mav_array_memcpy(packet->covariance, covariance, sizeof(float)*9);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_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 ATTITUDE_QUATERNION_COV UNPACKING
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/**
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* @brief Get field time_usec from attitude_quaternion_cov message
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*
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* @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.
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*/
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static inline uint64_t mavlink_msg_attitude_quaternion_cov_get_time_usec(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 q from attitude_quaternion_cov message
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*
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* @return Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_q(const mavlink_message_t* msg, float *q)
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{
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return _MAV_RETURN_float_array(msg, q, 4, 8);
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}
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/**
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* @brief Get field rollspeed from attitude_quaternion_cov message
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*
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* @return [rad/s] Roll angular speed
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*/
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static inline float mavlink_msg_attitude_quaternion_cov_get_rollspeed(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 pitchspeed from attitude_quaternion_cov message
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*
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* @return [rad/s] Pitch angular speed
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*/
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static inline float mavlink_msg_attitude_quaternion_cov_get_pitchspeed(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 Get field yawspeed from attitude_quaternion_cov message
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*
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* @return [rad/s] Yaw angular speed
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*/
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static inline float mavlink_msg_attitude_quaternion_cov_get_yawspeed(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 32);
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}
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/**
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* @brief Get field covariance from attitude_quaternion_cov message
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*
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* @return Row-major representation of a 3x3 attitude covariance matrix (states: roll, pitch, yaw; first three entries are the first ROW, next three entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
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*/
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static inline uint16_t mavlink_msg_attitude_quaternion_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
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{
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return _MAV_RETURN_float_array(msg, covariance, 9, 36);
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}
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|
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/**
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* @brief Decode a attitude_quaternion_cov message into a struct
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*
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|
* @param msg The message to decode
|
|
* @param attitude_quaternion_cov C-struct to decode the message contents into
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|
*/
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|
static inline void mavlink_msg_attitude_quaternion_cov_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_cov_t* attitude_quaternion_cov)
|
|
{
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|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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|
attitude_quaternion_cov->time_usec = mavlink_msg_attitude_quaternion_cov_get_time_usec(msg);
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|
mavlink_msg_attitude_quaternion_cov_get_q(msg, attitude_quaternion_cov->q);
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|
attitude_quaternion_cov->rollspeed = mavlink_msg_attitude_quaternion_cov_get_rollspeed(msg);
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|
attitude_quaternion_cov->pitchspeed = mavlink_msg_attitude_quaternion_cov_get_pitchspeed(msg);
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|
attitude_quaternion_cov->yawspeed = mavlink_msg_attitude_quaternion_cov_get_yawspeed(msg);
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|
mavlink_msg_attitude_quaternion_cov_get_covariance(msg, attitude_quaternion_cov->covariance);
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|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN;
|
|
memset(attitude_quaternion_cov, 0, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV_LEN);
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|
memcpy(attitude_quaternion_cov, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
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