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
608 lines
29 KiB
C
608 lines
29 KiB
C
#pragma once
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// MESSAGE CONTROL_SYSTEM_STATE PACKING
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#define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE 146
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MAVPACKED(
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typedef struct __mavlink_control_system_state_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 x_acc; /*< [m/s/s] X acceleration in body frame*/
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float y_acc; /*< [m/s/s] Y acceleration in body frame*/
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float z_acc; /*< [m/s/s] Z acceleration in body frame*/
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float x_vel; /*< [m/s] X velocity in body frame*/
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float y_vel; /*< [m/s] Y velocity in body frame*/
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float z_vel; /*< [m/s] Z velocity in body frame*/
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float x_pos; /*< [m] X position in local frame*/
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float y_pos; /*< [m] Y position in local frame*/
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float z_pos; /*< [m] Z position in local frame*/
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float airspeed; /*< [m/s] Airspeed, set to -1 if unknown*/
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float vel_variance[3]; /*< Variance of body velocity estimate*/
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float pos_variance[3]; /*< Variance in local position*/
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float q[4]; /*< The attitude, represented as Quaternion*/
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float roll_rate; /*< [rad/s] Angular rate in roll axis*/
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float pitch_rate; /*< [rad/s] Angular rate in pitch axis*/
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float yaw_rate; /*< [rad/s] Angular rate in yaw axis*/
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}) mavlink_control_system_state_t;
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#define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN 100
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#define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN 100
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#define MAVLINK_MSG_ID_146_LEN 100
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#define MAVLINK_MSG_ID_146_MIN_LEN 100
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#define MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC 103
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#define MAVLINK_MSG_ID_146_CRC 103
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#define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_VEL_VARIANCE_LEN 3
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#define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_POS_VARIANCE_LEN 3
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#define MAVLINK_MSG_CONTROL_SYSTEM_STATE_FIELD_Q_LEN 4
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \
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146, \
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"CONTROL_SYSTEM_STATE", \
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17, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \
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{ "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \
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{ "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \
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{ "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \
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{ "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \
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{ "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \
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{ "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \
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{ "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \
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{ "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \
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{ "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \
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{ "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \
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{ "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \
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{ "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \
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{ "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \
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{ "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \
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{ "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_CONTROL_SYSTEM_STATE { \
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"CONTROL_SYSTEM_STATE", \
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17, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_control_system_state_t, time_usec) }, \
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{ "x_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_control_system_state_t, x_acc) }, \
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{ "y_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_control_system_state_t, y_acc) }, \
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{ "z_acc", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_control_system_state_t, z_acc) }, \
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{ "x_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_control_system_state_t, x_vel) }, \
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{ "y_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_control_system_state_t, y_vel) }, \
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{ "z_vel", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_control_system_state_t, z_vel) }, \
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{ "x_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_control_system_state_t, x_pos) }, \
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{ "y_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_control_system_state_t, y_pos) }, \
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{ "z_pos", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_control_system_state_t, z_pos) }, \
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{ "airspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_control_system_state_t, airspeed) }, \
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{ "vel_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 48, offsetof(mavlink_control_system_state_t, vel_variance) }, \
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{ "pos_variance", NULL, MAVLINK_TYPE_FLOAT, 3, 60, offsetof(mavlink_control_system_state_t, pos_variance) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 72, offsetof(mavlink_control_system_state_t, q) }, \
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{ "roll_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_control_system_state_t, roll_rate) }, \
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{ "pitch_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 92, offsetof(mavlink_control_system_state_t, pitch_rate) }, \
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{ "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 96, offsetof(mavlink_control_system_state_t, yaw_rate) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a control_system_state 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 x_acc [m/s/s] X acceleration in body frame
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* @param y_acc [m/s/s] Y acceleration in body frame
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* @param z_acc [m/s/s] Z acceleration in body frame
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* @param x_vel [m/s] X velocity in body frame
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* @param y_vel [m/s] Y velocity in body frame
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* @param z_vel [m/s] Z velocity in body frame
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* @param x_pos [m] X position in local frame
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* @param y_pos [m] Y position in local frame
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* @param z_pos [m] Z position in local frame
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* @param airspeed [m/s] Airspeed, set to -1 if unknown
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* @param vel_variance Variance of body velocity estimate
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* @param pos_variance Variance in local position
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* @param q The attitude, represented as Quaternion
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* @param roll_rate [rad/s] Angular rate in roll axis
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* @param pitch_rate [rad/s] Angular rate in pitch axis
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* @param yaw_rate [rad/s] Angular rate in yaw axis
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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_control_system_state_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
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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_CONTROL_SYSTEM_STATE_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, x_acc);
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_mav_put_float(buf, 12, y_acc);
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_mav_put_float(buf, 16, z_acc);
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_mav_put_float(buf, 20, x_vel);
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_mav_put_float(buf, 24, y_vel);
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_mav_put_float(buf, 28, z_vel);
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_mav_put_float(buf, 32, x_pos);
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_mav_put_float(buf, 36, y_pos);
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_mav_put_float(buf, 40, z_pos);
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_mav_put_float(buf, 44, airspeed);
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_mav_put_float(buf, 88, roll_rate);
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_mav_put_float(buf, 92, pitch_rate);
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_mav_put_float(buf, 96, yaw_rate);
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_mav_put_float_array(buf, 48, vel_variance, 3);
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_mav_put_float_array(buf, 60, pos_variance, 3);
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_mav_put_float_array(buf, 72, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
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#else
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mavlink_control_system_state_t packet;
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packet.time_usec = time_usec;
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packet.x_acc = x_acc;
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packet.y_acc = y_acc;
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packet.z_acc = z_acc;
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packet.x_vel = x_vel;
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packet.y_vel = y_vel;
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packet.z_vel = z_vel;
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packet.x_pos = x_pos;
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packet.y_pos = y_pos;
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packet.z_pos = z_pos;
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packet.airspeed = airspeed;
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packet.roll_rate = roll_rate;
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packet.pitch_rate = pitch_rate;
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packet.yaw_rate = yaw_rate;
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mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
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mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
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}
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/**
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* @brief Pack a control_system_state 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 x_acc [m/s/s] X acceleration in body frame
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* @param y_acc [m/s/s] Y acceleration in body frame
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* @param z_acc [m/s/s] Z acceleration in body frame
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* @param x_vel [m/s] X velocity in body frame
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* @param y_vel [m/s] Y velocity in body frame
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* @param z_vel [m/s] Z velocity in body frame
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* @param x_pos [m] X position in local frame
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* @param y_pos [m] Y position in local frame
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* @param z_pos [m] Z position in local frame
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* @param airspeed [m/s] Airspeed, set to -1 if unknown
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* @param vel_variance Variance of body velocity estimate
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* @param pos_variance Variance in local position
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* @param q The attitude, represented as Quaternion
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* @param roll_rate [rad/s] Angular rate in roll axis
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* @param pitch_rate [rad/s] Angular rate in pitch axis
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* @param yaw_rate [rad/s] Angular rate in yaw axis
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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_control_system_state_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 x_acc,float y_acc,float z_acc,float x_vel,float y_vel,float z_vel,float x_pos,float y_pos,float z_pos,float airspeed,const float *vel_variance,const float *pos_variance,const float *q,float roll_rate,float pitch_rate,float yaw_rate)
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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_CONTROL_SYSTEM_STATE_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, x_acc);
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_mav_put_float(buf, 12, y_acc);
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_mav_put_float(buf, 16, z_acc);
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_mav_put_float(buf, 20, x_vel);
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_mav_put_float(buf, 24, y_vel);
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_mav_put_float(buf, 28, z_vel);
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_mav_put_float(buf, 32, x_pos);
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_mav_put_float(buf, 36, y_pos);
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_mav_put_float(buf, 40, z_pos);
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_mav_put_float(buf, 44, airspeed);
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_mav_put_float(buf, 88, roll_rate);
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_mav_put_float(buf, 92, pitch_rate);
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_mav_put_float(buf, 96, yaw_rate);
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_mav_put_float_array(buf, 48, vel_variance, 3);
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_mav_put_float_array(buf, 60, pos_variance, 3);
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_mav_put_float_array(buf, 72, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
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#else
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mavlink_control_system_state_t packet;
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packet.time_usec = time_usec;
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packet.x_acc = x_acc;
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packet.y_acc = y_acc;
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packet.z_acc = z_acc;
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packet.x_vel = x_vel;
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packet.y_vel = y_vel;
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packet.z_vel = z_vel;
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packet.x_pos = x_pos;
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packet.y_pos = y_pos;
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packet.z_pos = z_pos;
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packet.airspeed = airspeed;
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packet.roll_rate = roll_rate;
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packet.pitch_rate = pitch_rate;
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packet.yaw_rate = yaw_rate;
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mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
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mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
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}
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/**
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* @brief Encode a control_system_state 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 control_system_state C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_control_system_state_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_control_system_state_t* control_system_state)
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{
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return mavlink_msg_control_system_state_pack(system_id, component_id, msg, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
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}
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/**
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* @brief Encode a control_system_state 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 control_system_state C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_control_system_state_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_control_system_state_t* control_system_state)
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{
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return mavlink_msg_control_system_state_pack_chan(system_id, component_id, chan, msg, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
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}
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/**
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* @brief Send a control_system_state 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 x_acc [m/s/s] X acceleration in body frame
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* @param y_acc [m/s/s] Y acceleration in body frame
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* @param z_acc [m/s/s] Z acceleration in body frame
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* @param x_vel [m/s] X velocity in body frame
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* @param y_vel [m/s] Y velocity in body frame
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* @param z_vel [m/s] Z velocity in body frame
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* @param x_pos [m] X position in local frame
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* @param y_pos [m] Y position in local frame
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* @param z_pos [m] Z position in local frame
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* @param airspeed [m/s] Airspeed, set to -1 if unknown
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* @param vel_variance Variance of body velocity estimate
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* @param pos_variance Variance in local position
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* @param q The attitude, represented as Quaternion
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* @param roll_rate [rad/s] Angular rate in roll axis
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* @param pitch_rate [rad/s] Angular rate in pitch axis
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* @param yaw_rate [rad/s] Angular rate in yaw axis
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_control_system_state_send(mavlink_channel_t chan, uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
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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_CONTROL_SYSTEM_STATE_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, x_acc);
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_mav_put_float(buf, 12, y_acc);
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_mav_put_float(buf, 16, z_acc);
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_mav_put_float(buf, 20, x_vel);
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_mav_put_float(buf, 24, y_vel);
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_mav_put_float(buf, 28, z_vel);
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_mav_put_float(buf, 32, x_pos);
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_mav_put_float(buf, 36, y_pos);
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_mav_put_float(buf, 40, z_pos);
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_mav_put_float(buf, 44, airspeed);
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_mav_put_float(buf, 88, roll_rate);
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_mav_put_float(buf, 92, pitch_rate);
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_mav_put_float(buf, 96, yaw_rate);
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_mav_put_float_array(buf, 48, vel_variance, 3);
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_mav_put_float_array(buf, 60, pos_variance, 3);
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_mav_put_float_array(buf, 72, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
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#else
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mavlink_control_system_state_t packet;
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packet.time_usec = time_usec;
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packet.x_acc = x_acc;
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packet.y_acc = y_acc;
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packet.z_acc = z_acc;
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packet.x_vel = x_vel;
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packet.y_vel = y_vel;
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packet.z_vel = z_vel;
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packet.x_pos = x_pos;
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packet.y_pos = y_pos;
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packet.z_pos = z_pos;
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packet.airspeed = airspeed;
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packet.roll_rate = roll_rate;
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packet.pitch_rate = pitch_rate;
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packet.yaw_rate = yaw_rate;
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mav_array_memcpy(packet.vel_variance, vel_variance, sizeof(float)*3);
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mav_array_memcpy(packet.pos_variance, pos_variance, sizeof(float)*3);
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)&packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
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#endif
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}
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/**
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* @brief Send a control_system_state 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_control_system_state_send_struct(mavlink_channel_t chan, const mavlink_control_system_state_t* control_system_state)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_control_system_state_send(chan, control_system_state->time_usec, control_system_state->x_acc, control_system_state->y_acc, control_system_state->z_acc, control_system_state->x_vel, control_system_state->y_vel, control_system_state->z_vel, control_system_state->x_pos, control_system_state->y_pos, control_system_state->z_pos, control_system_state->airspeed, control_system_state->vel_variance, control_system_state->pos_variance, control_system_state->q, control_system_state->roll_rate, control_system_state->pitch_rate, control_system_state->yaw_rate);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)control_system_state, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_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_control_system_state_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float x_acc, float y_acc, float z_acc, float x_vel, float y_vel, float z_vel, float x_pos, float y_pos, float z_pos, float airspeed, const float *vel_variance, const float *pos_variance, const float *q, float roll_rate, float pitch_rate, float yaw_rate)
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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, 8, x_acc);
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_mav_put_float(buf, 12, y_acc);
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_mav_put_float(buf, 16, z_acc);
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_mav_put_float(buf, 20, x_vel);
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_mav_put_float(buf, 24, y_vel);
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_mav_put_float(buf, 28, z_vel);
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_mav_put_float(buf, 32, x_pos);
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_mav_put_float(buf, 36, y_pos);
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_mav_put_float(buf, 40, z_pos);
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_mav_put_float(buf, 44, airspeed);
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_mav_put_float(buf, 88, roll_rate);
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_mav_put_float(buf, 92, pitch_rate);
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_mav_put_float(buf, 96, yaw_rate);
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_mav_put_float_array(buf, 48, vel_variance, 3);
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_mav_put_float_array(buf, 60, pos_variance, 3);
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_mav_put_float_array(buf, 72, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, buf, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_CRC);
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#else
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mavlink_control_system_state_t *packet = (mavlink_control_system_state_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->x_acc = x_acc;
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packet->y_acc = y_acc;
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packet->z_acc = z_acc;
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packet->x_vel = x_vel;
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packet->y_vel = y_vel;
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packet->z_vel = z_vel;
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packet->x_pos = x_pos;
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packet->y_pos = y_pos;
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packet->z_pos = z_pos;
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packet->airspeed = airspeed;
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packet->roll_rate = roll_rate;
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packet->pitch_rate = pitch_rate;
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packet->yaw_rate = yaw_rate;
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mav_array_memcpy(packet->vel_variance, vel_variance, sizeof(float)*3);
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mav_array_memcpy(packet->pos_variance, pos_variance, sizeof(float)*3);
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mav_array_memcpy(packet->q, q, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE, (const char *)packet, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_MIN_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_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 CONTROL_SYSTEM_STATE UNPACKING
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/**
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* @brief Get field time_usec from control_system_state 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_control_system_state_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 x_acc from control_system_state message
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*
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* @return [m/s/s] X acceleration in body frame
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*/
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static inline float mavlink_msg_control_system_state_get_x_acc(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field y_acc from control_system_state message
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*
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* @return [m/s/s] Y acceleration in body frame
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*/
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static inline float mavlink_msg_control_system_state_get_y_acc(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field z_acc from control_system_state message
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*
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* @return [m/s/s] Z acceleration in body frame
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*/
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static inline float mavlink_msg_control_system_state_get_z_acc(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field x_vel from control_system_state message
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*
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* @return [m/s] X velocity in body frame
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*/
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static inline float mavlink_msg_control_system_state_get_x_vel(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field y_vel from control_system_state message
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*
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* @return [m/s] Y velocity in body frame
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*/
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static inline float mavlink_msg_control_system_state_get_y_vel(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 z_vel from control_system_state message
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*
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* @return [m/s] Z velocity in body frame
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*/
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static inline float mavlink_msg_control_system_state_get_z_vel(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 x_pos from control_system_state message
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*
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* @return [m] X position in local frame
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*/
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static inline float mavlink_msg_control_system_state_get_x_pos(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 y_pos from control_system_state message
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*
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* @return [m] Y position in local frame
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*/
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static inline float mavlink_msg_control_system_state_get_y_pos(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 36);
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}
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/**
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* @brief Get field z_pos from control_system_state message
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*
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* @return [m] Z position in local frame
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*/
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static inline float mavlink_msg_control_system_state_get_z_pos(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 40);
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}
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/**
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* @brief Get field airspeed from control_system_state message
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*
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* @return [m/s] Airspeed, set to -1 if unknown
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*/
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static inline float mavlink_msg_control_system_state_get_airspeed(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 44);
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}
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/**
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* @brief Get field vel_variance from control_system_state message
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*
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* @return Variance of body velocity estimate
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*/
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static inline uint16_t mavlink_msg_control_system_state_get_vel_variance(const mavlink_message_t* msg, float *vel_variance)
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{
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return _MAV_RETURN_float_array(msg, vel_variance, 3, 48);
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}
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/**
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* @brief Get field pos_variance from control_system_state message
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*
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* @return Variance in local position
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*/
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static inline uint16_t mavlink_msg_control_system_state_get_pos_variance(const mavlink_message_t* msg, float *pos_variance)
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{
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return _MAV_RETURN_float_array(msg, pos_variance, 3, 60);
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}
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/**
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* @brief Get field q from control_system_state message
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*
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* @return The attitude, represented as Quaternion
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*/
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static inline uint16_t mavlink_msg_control_system_state_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, 72);
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}
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/**
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* @brief Get field roll_rate from control_system_state message
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*
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* @return [rad/s] Angular rate in roll axis
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*/
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static inline float mavlink_msg_control_system_state_get_roll_rate(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 88);
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}
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/**
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* @brief Get field pitch_rate from control_system_state message
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*
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* @return [rad/s] Angular rate in pitch axis
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*/
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static inline float mavlink_msg_control_system_state_get_pitch_rate(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 92);
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}
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/**
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* @brief Get field yaw_rate from control_system_state message
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*
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* @return [rad/s] Angular rate in yaw axis
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*/
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static inline float mavlink_msg_control_system_state_get_yaw_rate(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 96);
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}
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/**
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* @brief Decode a control_system_state message into a struct
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*
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* @param msg The message to decode
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* @param control_system_state C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_control_system_state_decode(const mavlink_message_t* msg, mavlink_control_system_state_t* control_system_state)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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control_system_state->time_usec = mavlink_msg_control_system_state_get_time_usec(msg);
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control_system_state->x_acc = mavlink_msg_control_system_state_get_x_acc(msg);
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control_system_state->y_acc = mavlink_msg_control_system_state_get_y_acc(msg);
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control_system_state->z_acc = mavlink_msg_control_system_state_get_z_acc(msg);
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control_system_state->x_vel = mavlink_msg_control_system_state_get_x_vel(msg);
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control_system_state->y_vel = mavlink_msg_control_system_state_get_y_vel(msg);
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control_system_state->z_vel = mavlink_msg_control_system_state_get_z_vel(msg);
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control_system_state->x_pos = mavlink_msg_control_system_state_get_x_pos(msg);
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control_system_state->y_pos = mavlink_msg_control_system_state_get_y_pos(msg);
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control_system_state->z_pos = mavlink_msg_control_system_state_get_z_pos(msg);
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control_system_state->airspeed = mavlink_msg_control_system_state_get_airspeed(msg);
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mavlink_msg_control_system_state_get_vel_variance(msg, control_system_state->vel_variance);
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mavlink_msg_control_system_state_get_pos_variance(msg, control_system_state->pos_variance);
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mavlink_msg_control_system_state_get_q(msg, control_system_state->q);
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control_system_state->roll_rate = mavlink_msg_control_system_state_get_roll_rate(msg);
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control_system_state->pitch_rate = mavlink_msg_control_system_state_get_pitch_rate(msg);
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control_system_state->yaw_rate = mavlink_msg_control_system_state_get_yaw_rate(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN? msg->len : MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN;
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memset(control_system_state, 0, MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE_LEN);
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memcpy(control_system_state, _MAV_PAYLOAD(msg), len);
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#endif
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}
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