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
564 lines
24 KiB
C
564 lines
24 KiB
C
#pragma once
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// MESSAGE HIL_SENSOR PACKING
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#define MAVLINK_MSG_ID_HIL_SENSOR 107
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MAVPACKED(
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typedef struct __mavlink_hil_sensor_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 xacc; /*< [m/s/s] X acceleration*/
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float yacc; /*< [m/s/s] Y acceleration*/
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float zacc; /*< [m/s/s] Z acceleration*/
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float xgyro; /*< [rad/s] Angular speed around X axis in body frame*/
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float ygyro; /*< [rad/s] Angular speed around Y axis in body frame*/
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float zgyro; /*< [rad/s] Angular speed around Z axis in body frame*/
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float xmag; /*< [gauss] X Magnetic field*/
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float ymag; /*< [gauss] Y Magnetic field*/
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float zmag; /*< [gauss] Z Magnetic field*/
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float abs_pressure; /*< [mbar] Absolute pressure*/
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float diff_pressure; /*< [mbar] Differential pressure (airspeed)*/
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float pressure_alt; /*< Altitude calculated from pressure*/
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float temperature; /*< [degC] Temperature*/
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uint32_t fields_updated; /*< Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.*/
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}) mavlink_hil_sensor_t;
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#define MAVLINK_MSG_ID_HIL_SENSOR_LEN 64
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#define MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN 64
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#define MAVLINK_MSG_ID_107_LEN 64
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#define MAVLINK_MSG_ID_107_MIN_LEN 64
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#define MAVLINK_MSG_ID_HIL_SENSOR_CRC 108
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#define MAVLINK_MSG_ID_107_CRC 108
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \
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107, \
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"HIL_SENSOR", \
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15, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
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{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
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{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
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{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
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{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
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{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
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{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
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{ "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
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{ "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
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{ "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
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{ "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
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{ "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
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{ "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
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{ "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
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{ "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_HIL_SENSOR { \
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"HIL_SENSOR", \
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15, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_hil_sensor_t, time_usec) }, \
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{ "xacc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_hil_sensor_t, xacc) }, \
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{ "yacc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_hil_sensor_t, yacc) }, \
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{ "zacc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_hil_sensor_t, zacc) }, \
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{ "xgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_hil_sensor_t, xgyro) }, \
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{ "ygyro", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_hil_sensor_t, ygyro) }, \
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{ "zgyro", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_hil_sensor_t, zgyro) }, \
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{ "xmag", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_hil_sensor_t, xmag) }, \
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{ "ymag", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_hil_sensor_t, ymag) }, \
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{ "zmag", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_hil_sensor_t, zmag) }, \
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{ "abs_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_hil_sensor_t, abs_pressure) }, \
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{ "diff_pressure", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_hil_sensor_t, diff_pressure) }, \
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{ "pressure_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_hil_sensor_t, pressure_alt) }, \
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{ "temperature", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_hil_sensor_t, temperature) }, \
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{ "fields_updated", NULL, MAVLINK_TYPE_UINT32_T, 0, 60, offsetof(mavlink_hil_sensor_t, fields_updated) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a hil_sensor 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 [m/s/s] X acceleration
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* @param yacc [m/s/s] Y acceleration
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* @param zacc [m/s/s] Z acceleration
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* @param xgyro [rad/s] Angular speed around X axis in body frame
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* @param ygyro [rad/s] Angular speed around Y axis in body frame
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* @param zgyro [rad/s] Angular speed around Z axis in body frame
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* @param xmag [gauss] X Magnetic field
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* @param ymag [gauss] Y Magnetic field
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* @param zmag [gauss] Z Magnetic field
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* @param abs_pressure [mbar] Absolute pressure
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* @param diff_pressure [mbar] Differential pressure (airspeed)
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* @param pressure_alt Altitude calculated from pressure
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* @param temperature [degC] Temperature
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* @param fields_updated Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
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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_hil_sensor_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated)
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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_HIL_SENSOR_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, xacc);
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_mav_put_float(buf, 12, yacc);
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_mav_put_float(buf, 16, zacc);
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_mav_put_float(buf, 20, xgyro);
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_mav_put_float(buf, 24, ygyro);
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_mav_put_float(buf, 28, zgyro);
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_mav_put_float(buf, 32, xmag);
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_mav_put_float(buf, 36, ymag);
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_mav_put_float(buf, 40, zmag);
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_mav_put_float(buf, 44, abs_pressure);
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_mav_put_float(buf, 48, diff_pressure);
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_mav_put_float(buf, 52, pressure_alt);
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_mav_put_float(buf, 56, temperature);
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_mav_put_uint32_t(buf, 60, fields_updated);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
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#else
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mavlink_hil_sensor_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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packet.abs_pressure = abs_pressure;
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packet.diff_pressure = diff_pressure;
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packet.pressure_alt = pressure_alt;
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packet.temperature = temperature;
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packet.fields_updated = fields_updated;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
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}
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/**
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* @brief Pack a hil_sensor 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 [m/s/s] X acceleration
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* @param yacc [m/s/s] Y acceleration
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* @param zacc [m/s/s] Z acceleration
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* @param xgyro [rad/s] Angular speed around X axis in body frame
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* @param ygyro [rad/s] Angular speed around Y axis in body frame
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* @param zgyro [rad/s] Angular speed around Z axis in body frame
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* @param xmag [gauss] X Magnetic field
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* @param ymag [gauss] Y Magnetic field
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* @param zmag [gauss] Z Magnetic field
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* @param abs_pressure [mbar] Absolute pressure
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* @param diff_pressure [mbar] Differential pressure (airspeed)
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* @param pressure_alt Altitude calculated from pressure
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* @param temperature [degC] Temperature
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* @param fields_updated Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
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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_hil_sensor_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,float xacc,float yacc,float zacc,float xgyro,float ygyro,float zgyro,float xmag,float ymag,float zmag,float abs_pressure,float diff_pressure,float pressure_alt,float temperature,uint32_t fields_updated)
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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_HIL_SENSOR_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, xacc);
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_mav_put_float(buf, 12, yacc);
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_mav_put_float(buf, 16, zacc);
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_mav_put_float(buf, 20, xgyro);
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_mav_put_float(buf, 24, ygyro);
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_mav_put_float(buf, 28, zgyro);
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_mav_put_float(buf, 32, xmag);
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_mav_put_float(buf, 36, ymag);
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_mav_put_float(buf, 40, zmag);
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_mav_put_float(buf, 44, abs_pressure);
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_mav_put_float(buf, 48, diff_pressure);
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_mav_put_float(buf, 52, pressure_alt);
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_mav_put_float(buf, 56, temperature);
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_mav_put_uint32_t(buf, 60, fields_updated);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
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#else
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mavlink_hil_sensor_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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packet.abs_pressure = abs_pressure;
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packet.diff_pressure = diff_pressure;
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packet.pressure_alt = pressure_alt;
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packet.temperature = temperature;
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packet.fields_updated = fields_updated;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_HIL_SENSOR;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
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}
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/**
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* @brief Encode a hil_sensor 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 hil_sensor C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_hil_sensor_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
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{
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return mavlink_msg_hil_sensor_pack(system_id, component_id, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated);
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}
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/**
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* @brief Encode a hil_sensor 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 hil_sensor C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_hil_sensor_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_hil_sensor_t* hil_sensor)
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{
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return mavlink_msg_hil_sensor_pack_chan(system_id, component_id, chan, msg, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated);
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}
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/**
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* @brief Send a hil_sensor 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 [m/s/s] X acceleration
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* @param yacc [m/s/s] Y acceleration
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* @param zacc [m/s/s] Z acceleration
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* @param xgyro [rad/s] Angular speed around X axis in body frame
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* @param ygyro [rad/s] Angular speed around Y axis in body frame
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* @param zgyro [rad/s] Angular speed around Z axis in body frame
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* @param xmag [gauss] X Magnetic field
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* @param ymag [gauss] Y Magnetic field
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* @param zmag [gauss] Z Magnetic field
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* @param abs_pressure [mbar] Absolute pressure
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* @param diff_pressure [mbar] Differential pressure (airspeed)
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* @param pressure_alt Altitude calculated from pressure
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* @param temperature [degC] Temperature
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* @param fields_updated Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_hil_sensor_send(mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated)
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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_HIL_SENSOR_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, xacc);
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_mav_put_float(buf, 12, yacc);
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_mav_put_float(buf, 16, zacc);
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_mav_put_float(buf, 20, xgyro);
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_mav_put_float(buf, 24, ygyro);
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_mav_put_float(buf, 28, zgyro);
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_mav_put_float(buf, 32, xmag);
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_mav_put_float(buf, 36, ymag);
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_mav_put_float(buf, 40, zmag);
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_mav_put_float(buf, 44, abs_pressure);
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_mav_put_float(buf, 48, diff_pressure);
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_mav_put_float(buf, 52, pressure_alt);
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_mav_put_float(buf, 56, temperature);
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_mav_put_uint32_t(buf, 60, fields_updated);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
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#else
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mavlink_hil_sensor_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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packet.abs_pressure = abs_pressure;
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packet.diff_pressure = diff_pressure;
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packet.pressure_alt = pressure_alt;
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packet.temperature = temperature;
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packet.fields_updated = fields_updated;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)&packet, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
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|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a hil_sensor message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_hil_sensor_send_struct(mavlink_channel_t chan, const mavlink_hil_sensor_t* hil_sensor)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_hil_sensor_send(chan, hil_sensor->time_usec, hil_sensor->xacc, hil_sensor->yacc, hil_sensor->zacc, hil_sensor->xgyro, hil_sensor->ygyro, hil_sensor->zgyro, hil_sensor->xmag, hil_sensor->ymag, hil_sensor->zmag, hil_sensor->abs_pressure, hil_sensor->diff_pressure, hil_sensor->pressure_alt, hil_sensor->temperature, hil_sensor->fields_updated);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)hil_sensor, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_HIL_SENSOR_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_hil_sensor_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, uint32_t fields_updated)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
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|
_mav_put_uint64_t(buf, 0, time_usec);
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|
_mav_put_float(buf, 8, xacc);
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|
_mav_put_float(buf, 12, yacc);
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|
_mav_put_float(buf, 16, zacc);
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|
_mav_put_float(buf, 20, xgyro);
|
|
_mav_put_float(buf, 24, ygyro);
|
|
_mav_put_float(buf, 28, zgyro);
|
|
_mav_put_float(buf, 32, xmag);
|
|
_mav_put_float(buf, 36, ymag);
|
|
_mav_put_float(buf, 40, zmag);
|
|
_mav_put_float(buf, 44, abs_pressure);
|
|
_mav_put_float(buf, 48, diff_pressure);
|
|
_mav_put_float(buf, 52, pressure_alt);
|
|
_mav_put_float(buf, 56, temperature);
|
|
_mav_put_uint32_t(buf, 60, fields_updated);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, buf, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
|
|
#else
|
|
mavlink_hil_sensor_t *packet = (mavlink_hil_sensor_t *)msgbuf;
|
|
packet->time_usec = time_usec;
|
|
packet->xacc = xacc;
|
|
packet->yacc = yacc;
|
|
packet->zacc = zacc;
|
|
packet->xgyro = xgyro;
|
|
packet->ygyro = ygyro;
|
|
packet->zgyro = zgyro;
|
|
packet->xmag = xmag;
|
|
packet->ymag = ymag;
|
|
packet->zmag = zmag;
|
|
packet->abs_pressure = abs_pressure;
|
|
packet->diff_pressure = diff_pressure;
|
|
packet->pressure_alt = pressure_alt;
|
|
packet->temperature = temperature;
|
|
packet->fields_updated = fields_updated;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_HIL_SENSOR, (const char *)packet, MAVLINK_MSG_ID_HIL_SENSOR_MIN_LEN, MAVLINK_MSG_ID_HIL_SENSOR_LEN, MAVLINK_MSG_ID_HIL_SENSOR_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE HIL_SENSOR UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field time_usec from hil_sensor message
|
|
*
|
|
* @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.
|
|
*/
|
|
static inline uint64_t mavlink_msg_hil_sensor_get_time_usec(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field xacc from hil_sensor message
|
|
*
|
|
* @return [m/s/s] X acceleration
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_xacc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field yacc from hil_sensor message
|
|
*
|
|
* @return [m/s/s] Y acceleration
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_yacc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field zacc from hil_sensor message
|
|
*
|
|
* @return [m/s/s] Z acceleration
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_zacc(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field xgyro from hil_sensor message
|
|
*
|
|
* @return [rad/s] Angular speed around X axis in body frame
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_xgyro(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ygyro from hil_sensor message
|
|
*
|
|
* @return [rad/s] Angular speed around Y axis in body frame
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_ygyro(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field zgyro from hil_sensor message
|
|
*
|
|
* @return [rad/s] Angular speed around Z axis in body frame
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_zgyro(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field xmag from hil_sensor message
|
|
*
|
|
* @return [gauss] X Magnetic field
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_xmag(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ymag from hil_sensor message
|
|
*
|
|
* @return [gauss] Y Magnetic field
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_ymag(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field zmag from hil_sensor message
|
|
*
|
|
* @return [gauss] Z Magnetic field
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_zmag(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field abs_pressure from hil_sensor message
|
|
*
|
|
* @return [mbar] Absolute pressure
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_abs_pressure(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 44);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field diff_pressure from hil_sensor message
|
|
*
|
|
* @return [mbar] Differential pressure (airspeed)
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_diff_pressure(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 48);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field pressure_alt from hil_sensor message
|
|
*
|
|
* @return Altitude calculated from pressure
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_pressure_alt(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 52);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field temperature from hil_sensor message
|
|
*
|
|
* @return [degC] Temperature
|
|
*/
|
|
static inline float mavlink_msg_hil_sensor_get_temperature(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 56);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field fields_updated from hil_sensor message
|
|
*
|
|
* @return Bitmap for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
|
|
*/
|
|
static inline uint32_t mavlink_msg_hil_sensor_get_fields_updated(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 60);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a hil_sensor message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param hil_sensor C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_hil_sensor_decode(const mavlink_message_t* msg, mavlink_hil_sensor_t* hil_sensor)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
hil_sensor->time_usec = mavlink_msg_hil_sensor_get_time_usec(msg);
|
|
hil_sensor->xacc = mavlink_msg_hil_sensor_get_xacc(msg);
|
|
hil_sensor->yacc = mavlink_msg_hil_sensor_get_yacc(msg);
|
|
hil_sensor->zacc = mavlink_msg_hil_sensor_get_zacc(msg);
|
|
hil_sensor->xgyro = mavlink_msg_hil_sensor_get_xgyro(msg);
|
|
hil_sensor->ygyro = mavlink_msg_hil_sensor_get_ygyro(msg);
|
|
hil_sensor->zgyro = mavlink_msg_hil_sensor_get_zgyro(msg);
|
|
hil_sensor->xmag = mavlink_msg_hil_sensor_get_xmag(msg);
|
|
hil_sensor->ymag = mavlink_msg_hil_sensor_get_ymag(msg);
|
|
hil_sensor->zmag = mavlink_msg_hil_sensor_get_zmag(msg);
|
|
hil_sensor->abs_pressure = mavlink_msg_hil_sensor_get_abs_pressure(msg);
|
|
hil_sensor->diff_pressure = mavlink_msg_hil_sensor_get_diff_pressure(msg);
|
|
hil_sensor->pressure_alt = mavlink_msg_hil_sensor_get_pressure_alt(msg);
|
|
hil_sensor->temperature = mavlink_msg_hil_sensor_get_temperature(msg);
|
|
hil_sensor->fields_updated = mavlink_msg_hil_sensor_get_fields_updated(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_HIL_SENSOR_LEN? msg->len : MAVLINK_MSG_ID_HIL_SENSOR_LEN;
|
|
memset(hil_sensor, 0, MAVLINK_MSG_ID_HIL_SENSOR_LEN);
|
|
memcpy(hil_sensor, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|