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
439 lines
17 KiB
C
439 lines
17 KiB
C
#pragma once
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// MESSAGE RAW_IMU PACKING
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#define MAVLINK_MSG_ID_RAW_IMU 27
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MAVPACKED(
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typedef struct __mavlink_raw_imu_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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int16_t xacc; /*< X acceleration (raw)*/
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int16_t yacc; /*< Y acceleration (raw)*/
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int16_t zacc; /*< Z acceleration (raw)*/
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int16_t xgyro; /*< Angular speed around X axis (raw)*/
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int16_t ygyro; /*< Angular speed around Y axis (raw)*/
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int16_t zgyro; /*< Angular speed around Z axis (raw)*/
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int16_t xmag; /*< X Magnetic field (raw)*/
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int16_t ymag; /*< Y Magnetic field (raw)*/
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int16_t zmag; /*< Z Magnetic field (raw)*/
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}) mavlink_raw_imu_t;
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#define MAVLINK_MSG_ID_RAW_IMU_LEN 26
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#define MAVLINK_MSG_ID_RAW_IMU_MIN_LEN 26
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#define MAVLINK_MSG_ID_27_LEN 26
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#define MAVLINK_MSG_ID_27_MIN_LEN 26
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#define MAVLINK_MSG_ID_RAW_IMU_CRC 144
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#define MAVLINK_MSG_ID_27_CRC 144
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_RAW_IMU { \
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27, \
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"RAW_IMU", \
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10, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
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{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
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{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
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{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
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{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
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{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
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{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
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{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
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{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
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{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_RAW_IMU { \
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"RAW_IMU", \
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10, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_raw_imu_t, time_usec) }, \
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{ "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_raw_imu_t, xacc) }, \
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{ "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_raw_imu_t, yacc) }, \
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{ "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_raw_imu_t, zacc) }, \
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{ "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_raw_imu_t, xgyro) }, \
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{ "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_raw_imu_t, ygyro) }, \
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{ "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_raw_imu_t, zgyro) }, \
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{ "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_raw_imu_t, xmag) }, \
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{ "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_raw_imu_t, ymag) }, \
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{ "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_raw_imu_t, zmag) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a raw_imu 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 xacc X acceleration (raw)
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* @param yacc Y acceleration (raw)
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* @param zacc Z acceleration (raw)
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* @param xgyro Angular speed around X axis (raw)
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* @param ygyro Angular speed around Y axis (raw)
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* @param zgyro Angular speed around Z axis (raw)
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* @param xmag X Magnetic field (raw)
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* @param ymag Y Magnetic field (raw)
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* @param zmag Z Magnetic field (raw)
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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_raw_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
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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_RAW_IMU_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_int16_t(buf, 8, xacc);
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_mav_put_int16_t(buf, 10, yacc);
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_mav_put_int16_t(buf, 12, zacc);
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_mav_put_int16_t(buf, 14, xgyro);
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_mav_put_int16_t(buf, 16, ygyro);
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_mav_put_int16_t(buf, 18, zgyro);
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_mav_put_int16_t(buf, 20, xmag);
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_mav_put_int16_t(buf, 22, ymag);
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_mav_put_int16_t(buf, 24, zmag);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
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#else
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mavlink_raw_imu_t packet;
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packet.time_usec = time_usec;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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packet.xmag = xmag;
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packet.ymag = ymag;
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packet.zmag = zmag;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
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}
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/**
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* @brief Pack a raw_imu 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 xacc X acceleration (raw)
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* @param yacc Y acceleration (raw)
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* @param zacc Z acceleration (raw)
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* @param xgyro Angular speed around X axis (raw)
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* @param ygyro Angular speed around Y axis (raw)
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* @param zgyro Angular speed around Z axis (raw)
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* @param xmag X Magnetic field (raw)
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* @param ymag Y Magnetic field (raw)
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* @param zmag Z Magnetic field (raw)
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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_raw_imu_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,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
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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_RAW_IMU_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_int16_t(buf, 8, xacc);
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_mav_put_int16_t(buf, 10, yacc);
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_mav_put_int16_t(buf, 12, zacc);
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_mav_put_int16_t(buf, 14, xgyro);
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_mav_put_int16_t(buf, 16, ygyro);
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_mav_put_int16_t(buf, 18, zgyro);
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_mav_put_int16_t(buf, 20, xmag);
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_mav_put_int16_t(buf, 22, ymag);
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_mav_put_int16_t(buf, 24, zmag);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_RAW_IMU_LEN);
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#else
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mavlink_raw_imu_t packet;
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packet.time_usec = time_usec;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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packet.xmag = xmag;
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packet.ymag = ymag;
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packet.zmag = zmag;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_RAW_IMU_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_RAW_IMU;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
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}
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/**
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* @brief Encode a raw_imu 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 raw_imu C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_raw_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
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{
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return mavlink_msg_raw_imu_pack(system_id, component_id, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
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}
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/**
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* @brief Encode a raw_imu 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 raw_imu C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_raw_imu_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_raw_imu_t* raw_imu)
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{
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return mavlink_msg_raw_imu_pack_chan(system_id, component_id, chan, msg, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
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}
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/**
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* @brief Send a raw_imu 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 xacc X acceleration (raw)
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* @param yacc Y acceleration (raw)
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* @param zacc Z acceleration (raw)
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* @param xgyro Angular speed around X axis (raw)
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* @param ygyro Angular speed around Y axis (raw)
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* @param zgyro Angular speed around Z axis (raw)
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* @param xmag X Magnetic field (raw)
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* @param ymag Y Magnetic field (raw)
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* @param zmag Z Magnetic field (raw)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_raw_imu_send(mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
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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_RAW_IMU_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_int16_t(buf, 8, xacc);
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_mav_put_int16_t(buf, 10, yacc);
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_mav_put_int16_t(buf, 12, zacc);
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_mav_put_int16_t(buf, 14, xgyro);
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_mav_put_int16_t(buf, 16, ygyro);
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_mav_put_int16_t(buf, 18, zgyro);
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_mav_put_int16_t(buf, 20, xmag);
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_mav_put_int16_t(buf, 22, ymag);
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_mav_put_int16_t(buf, 24, zmag);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
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#else
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mavlink_raw_imu_t packet;
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packet.time_usec = time_usec;
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packet.xacc = xacc;
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packet.yacc = yacc;
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packet.zacc = zacc;
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packet.xgyro = xgyro;
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packet.ygyro = ygyro;
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packet.zgyro = zgyro;
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packet.xmag = xmag;
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packet.ymag = ymag;
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packet.zmag = zmag;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)&packet, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
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#endif
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}
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/**
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* @brief Send a raw_imu 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_raw_imu_send_struct(mavlink_channel_t chan, const mavlink_raw_imu_t* raw_imu)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_raw_imu_send(chan, raw_imu->time_usec, raw_imu->xacc, raw_imu->yacc, raw_imu->zacc, raw_imu->xgyro, raw_imu->ygyro, raw_imu->zgyro, raw_imu->xmag, raw_imu->ymag, raw_imu->zmag);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)raw_imu, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_RAW_IMU_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_raw_imu_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
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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_int16_t(buf, 8, xacc);
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_mav_put_int16_t(buf, 10, yacc);
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_mav_put_int16_t(buf, 12, zacc);
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_mav_put_int16_t(buf, 14, xgyro);
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_mav_put_int16_t(buf, 16, ygyro);
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_mav_put_int16_t(buf, 18, zgyro);
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_mav_put_int16_t(buf, 20, xmag);
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_mav_put_int16_t(buf, 22, ymag);
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_mav_put_int16_t(buf, 24, zmag);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, buf, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_CRC);
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#else
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mavlink_raw_imu_t *packet = (mavlink_raw_imu_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->xacc = xacc;
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packet->yacc = yacc;
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packet->zacc = zacc;
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packet->xgyro = xgyro;
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packet->ygyro = ygyro;
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packet->zgyro = zgyro;
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packet->xmag = xmag;
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packet->ymag = ymag;
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packet->zmag = zmag;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_RAW_IMU, (const char *)packet, MAVLINK_MSG_ID_RAW_IMU_MIN_LEN, MAVLINK_MSG_ID_RAW_IMU_LEN, MAVLINK_MSG_ID_RAW_IMU_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 RAW_IMU UNPACKING
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/**
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* @brief Get field time_usec from raw_imu 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_raw_imu_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 xacc from raw_imu message
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*
|
|
* @return X acceleration (raw)
|
|
*/
|
|
static inline int16_t mavlink_msg_raw_imu_get_xacc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field yacc from raw_imu message
|
|
*
|
|
* @return Y acceleration (raw)
|
|
*/
|
|
static inline int16_t mavlink_msg_raw_imu_get_yacc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 10);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field zacc from raw_imu message
|
|
*
|
|
* @return Z acceleration (raw)
|
|
*/
|
|
static inline int16_t mavlink_msg_raw_imu_get_zacc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field xgyro from raw_imu message
|
|
*
|
|
* @return Angular speed around X axis (raw)
|
|
*/
|
|
static inline int16_t mavlink_msg_raw_imu_get_xgyro(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 14);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ygyro from raw_imu message
|
|
*
|
|
* @return Angular speed around Y axis (raw)
|
|
*/
|
|
static inline int16_t mavlink_msg_raw_imu_get_ygyro(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field zgyro from raw_imu message
|
|
*
|
|
* @return Angular speed around Z axis (raw)
|
|
*/
|
|
static inline int16_t mavlink_msg_raw_imu_get_zgyro(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 18);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field xmag from raw_imu message
|
|
*
|
|
* @return X Magnetic field (raw)
|
|
*/
|
|
static inline int16_t mavlink_msg_raw_imu_get_xmag(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ymag from raw_imu message
|
|
*
|
|
* @return Y Magnetic field (raw)
|
|
*/
|
|
static inline int16_t mavlink_msg_raw_imu_get_ymag(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 22);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field zmag from raw_imu message
|
|
*
|
|
* @return Z Magnetic field (raw)
|
|
*/
|
|
static inline int16_t mavlink_msg_raw_imu_get_zmag(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int16_t(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a raw_imu message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param raw_imu C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_raw_imu_decode(const mavlink_message_t* msg, mavlink_raw_imu_t* raw_imu)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
raw_imu->time_usec = mavlink_msg_raw_imu_get_time_usec(msg);
|
|
raw_imu->xacc = mavlink_msg_raw_imu_get_xacc(msg);
|
|
raw_imu->yacc = mavlink_msg_raw_imu_get_yacc(msg);
|
|
raw_imu->zacc = mavlink_msg_raw_imu_get_zacc(msg);
|
|
raw_imu->xgyro = mavlink_msg_raw_imu_get_xgyro(msg);
|
|
raw_imu->ygyro = mavlink_msg_raw_imu_get_ygyro(msg);
|
|
raw_imu->zgyro = mavlink_msg_raw_imu_get_zgyro(msg);
|
|
raw_imu->xmag = mavlink_msg_raw_imu_get_xmag(msg);
|
|
raw_imu->ymag = mavlink_msg_raw_imu_get_ymag(msg);
|
|
raw_imu->zmag = mavlink_msg_raw_imu_get_zmag(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_RAW_IMU_LEN? msg->len : MAVLINK_MSG_ID_RAW_IMU_LEN;
|
|
memset(raw_imu, 0, MAVLINK_MSG_ID_RAW_IMU_LEN);
|
|
memcpy(raw_imu, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|