541 lines
24 KiB
C
541 lines
24 KiB
C
#pragma once
|
|
// MESSAGE MAG_CAL_REPORT PACKING
|
|
|
|
#define MAVLINK_MSG_ID_MAG_CAL_REPORT 192
|
|
|
|
MAVPACKED(
|
|
typedef struct __mavlink_mag_cal_report_t {
|
|
float fitness; /*< [mgauss] RMS milligauss residuals.*/
|
|
float ofs_x; /*< X offset.*/
|
|
float ofs_y; /*< Y offset.*/
|
|
float ofs_z; /*< Z offset.*/
|
|
float diag_x; /*< X diagonal (matrix 11).*/
|
|
float diag_y; /*< Y diagonal (matrix 22).*/
|
|
float diag_z; /*< Z diagonal (matrix 33).*/
|
|
float offdiag_x; /*< X off-diagonal (matrix 12 and 21).*/
|
|
float offdiag_y; /*< Y off-diagonal (matrix 13 and 31).*/
|
|
float offdiag_z; /*< Z off-diagonal (matrix 32 and 23).*/
|
|
uint8_t compass_id; /*< Compass being calibrated.*/
|
|
uint8_t cal_mask; /*< Bitmask of compasses being calibrated.*/
|
|
uint8_t cal_status; /*< Calibration Status.*/
|
|
uint8_t autosaved; /*< 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.*/
|
|
})
|
|
mavlink_mag_cal_report_t;
|
|
|
|
#define MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN 44
|
|
#define MAVLINK_MSG_ID_MAG_CAL_REPORT_MIN_LEN 44
|
|
#define MAVLINK_MSG_ID_192_LEN 44
|
|
#define MAVLINK_MSG_ID_192_MIN_LEN 44
|
|
|
|
#define MAVLINK_MSG_ID_MAG_CAL_REPORT_CRC 36
|
|
#define MAVLINK_MSG_ID_192_CRC 36
|
|
|
|
#if MAVLINK_COMMAND_24BIT
|
|
#define MAVLINK_MESSAGE_INFO_MAG_CAL_REPORT \
|
|
{ \
|
|
192, \
|
|
"MAG_CAL_REPORT", \
|
|
14, \
|
|
{ \
|
|
{"compass_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_mag_cal_report_t, compass_id)}, \
|
|
{"cal_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_mag_cal_report_t, cal_mask)}, \
|
|
{"cal_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_mag_cal_report_t, cal_status)}, \
|
|
{"autosaved", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_mag_cal_report_t, autosaved)}, \
|
|
{"fitness", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mag_cal_report_t, fitness)}, \
|
|
{"ofs_x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mag_cal_report_t, ofs_x)}, \
|
|
{"ofs_y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mag_cal_report_t, ofs_y)}, \
|
|
{"ofs_z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mag_cal_report_t, ofs_z)}, \
|
|
{"diag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mag_cal_report_t, diag_x)}, \
|
|
{"diag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mag_cal_report_t, diag_y)}, \
|
|
{"diag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mag_cal_report_t, diag_z)}, \
|
|
{"offdiag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_mag_cal_report_t, offdiag_x)}, \
|
|
{"offdiag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_mag_cal_report_t, offdiag_y)}, \
|
|
{"offdiag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_mag_cal_report_t, offdiag_z)}, \
|
|
} \
|
|
}
|
|
#else
|
|
#define MAVLINK_MESSAGE_INFO_MAG_CAL_REPORT \
|
|
{ \
|
|
"MAG_CAL_REPORT", \
|
|
14, \
|
|
{ \
|
|
{"compass_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 40, offsetof(mavlink_mag_cal_report_t, compass_id)}, \
|
|
{"cal_mask", NULL, MAVLINK_TYPE_UINT8_T, 0, 41, offsetof(mavlink_mag_cal_report_t, cal_mask)}, \
|
|
{"cal_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_mag_cal_report_t, cal_status)}, \
|
|
{"autosaved", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_mag_cal_report_t, autosaved)}, \
|
|
{"fitness", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_mag_cal_report_t, fitness)}, \
|
|
{"ofs_x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_mag_cal_report_t, ofs_x)}, \
|
|
{"ofs_y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_mag_cal_report_t, ofs_y)}, \
|
|
{"ofs_z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_mag_cal_report_t, ofs_z)}, \
|
|
{"diag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_mag_cal_report_t, diag_x)}, \
|
|
{"diag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_mag_cal_report_t, diag_y)}, \
|
|
{"diag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_mag_cal_report_t, diag_z)}, \
|
|
{"offdiag_x", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_mag_cal_report_t, offdiag_x)}, \
|
|
{"offdiag_y", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_mag_cal_report_t, offdiag_y)}, \
|
|
{"offdiag_z", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_mag_cal_report_t, offdiag_z)}, \
|
|
} \
|
|
}
|
|
#endif
|
|
|
|
/**
|
|
* @brief Pack a mag_cal_report message
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
*
|
|
* @param compass_id Compass being calibrated.
|
|
* @param cal_mask Bitmask of compasses being calibrated.
|
|
* @param cal_status Calibration Status.
|
|
* @param autosaved 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
|
|
* @param fitness [mgauss] RMS milligauss residuals.
|
|
* @param ofs_x X offset.
|
|
* @param ofs_y Y offset.
|
|
* @param ofs_z Z offset.
|
|
* @param diag_x X diagonal (matrix 11).
|
|
* @param diag_y Y diagonal (matrix 22).
|
|
* @param diag_z Z diagonal (matrix 33).
|
|
* @param offdiag_x X off-diagonal (matrix 12 and 21).
|
|
* @param offdiag_y Y off-diagonal (matrix 13 and 31).
|
|
* @param offdiag_z Z off-diagonal (matrix 32 and 23).
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_mag_cal_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
|
|
uint8_t compass_id, uint8_t cal_mask, uint8_t cal_status, uint8_t autosaved, float fitness, float ofs_x, float ofs_y, float ofs_z, float diag_x, float diag_y, float diag_z, float offdiag_x, float offdiag_y, float offdiag_z)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN];
|
|
_mav_put_float(buf, 0, fitness);
|
|
_mav_put_float(buf, 4, ofs_x);
|
|
_mav_put_float(buf, 8, ofs_y);
|
|
_mav_put_float(buf, 12, ofs_z);
|
|
_mav_put_float(buf, 16, diag_x);
|
|
_mav_put_float(buf, 20, diag_y);
|
|
_mav_put_float(buf, 24, diag_z);
|
|
_mav_put_float(buf, 28, offdiag_x);
|
|
_mav_put_float(buf, 32, offdiag_y);
|
|
_mav_put_float(buf, 36, offdiag_z);
|
|
_mav_put_uint8_t(buf, 40, compass_id);
|
|
_mav_put_uint8_t(buf, 41, cal_mask);
|
|
_mav_put_uint8_t(buf, 42, cal_status);
|
|
_mav_put_uint8_t(buf, 43, autosaved);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
|
|
#else
|
|
mavlink_mag_cal_report_t packet;
|
|
packet.fitness = fitness;
|
|
packet.ofs_x = ofs_x;
|
|
packet.ofs_y = ofs_y;
|
|
packet.ofs_z = ofs_z;
|
|
packet.diag_x = diag_x;
|
|
packet.diag_y = diag_y;
|
|
packet.diag_z = diag_z;
|
|
packet.offdiag_x = offdiag_x;
|
|
packet.offdiag_y = offdiag_y;
|
|
packet.offdiag_z = offdiag_z;
|
|
packet.compass_id = compass_id;
|
|
packet.cal_mask = cal_mask;
|
|
packet.cal_status = cal_status;
|
|
packet.autosaved = autosaved;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_MAG_CAL_REPORT;
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_MAG_CAL_REPORT_MIN_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Pack a mag_cal_report message on a channel
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message will be sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param compass_id Compass being calibrated.
|
|
* @param cal_mask Bitmask of compasses being calibrated.
|
|
* @param cal_status Calibration Status.
|
|
* @param autosaved 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
|
|
* @param fitness [mgauss] RMS milligauss residuals.
|
|
* @param ofs_x X offset.
|
|
* @param ofs_y Y offset.
|
|
* @param ofs_z Z offset.
|
|
* @param diag_x X diagonal (matrix 11).
|
|
* @param diag_y Y diagonal (matrix 22).
|
|
* @param diag_z Z diagonal (matrix 33).
|
|
* @param offdiag_x X off-diagonal (matrix 12 and 21).
|
|
* @param offdiag_y Y off-diagonal (matrix 13 and 31).
|
|
* @param offdiag_z Z off-diagonal (matrix 32 and 23).
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
|
*/
|
|
static inline uint16_t mavlink_msg_mag_cal_report_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
|
mavlink_message_t *msg,
|
|
uint8_t compass_id, uint8_t cal_mask, uint8_t cal_status, uint8_t autosaved, float fitness, float ofs_x, float ofs_y, float ofs_z, float diag_x, float diag_y, float diag_z, float offdiag_x, float offdiag_y, float offdiag_z)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN];
|
|
_mav_put_float(buf, 0, fitness);
|
|
_mav_put_float(buf, 4, ofs_x);
|
|
_mav_put_float(buf, 8, ofs_y);
|
|
_mav_put_float(buf, 12, ofs_z);
|
|
_mav_put_float(buf, 16, diag_x);
|
|
_mav_put_float(buf, 20, diag_y);
|
|
_mav_put_float(buf, 24, diag_z);
|
|
_mav_put_float(buf, 28, offdiag_x);
|
|
_mav_put_float(buf, 32, offdiag_y);
|
|
_mav_put_float(buf, 36, offdiag_z);
|
|
_mav_put_uint8_t(buf, 40, compass_id);
|
|
_mav_put_uint8_t(buf, 41, cal_mask);
|
|
_mav_put_uint8_t(buf, 42, cal_status);
|
|
_mav_put_uint8_t(buf, 43, autosaved);
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
|
|
#else
|
|
mavlink_mag_cal_report_t packet;
|
|
packet.fitness = fitness;
|
|
packet.ofs_x = ofs_x;
|
|
packet.ofs_y = ofs_y;
|
|
packet.ofs_z = ofs_z;
|
|
packet.diag_x = diag_x;
|
|
packet.diag_y = diag_y;
|
|
packet.diag_z = diag_z;
|
|
packet.offdiag_x = offdiag_x;
|
|
packet.offdiag_y = offdiag_y;
|
|
packet.offdiag_z = offdiag_z;
|
|
packet.compass_id = compass_id;
|
|
packet.cal_mask = cal_mask;
|
|
packet.cal_status = cal_status;
|
|
packet.autosaved = autosaved;
|
|
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
|
|
#endif
|
|
|
|
msg->msgid = MAVLINK_MSG_ID_MAG_CAL_REPORT;
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_MAG_CAL_REPORT_MIN_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_CRC);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a mag_cal_report struct
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param mag_cal_report C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_mag_cal_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_mag_cal_report_t *mag_cal_report)
|
|
{
|
|
return mavlink_msg_mag_cal_report_pack(system_id, component_id, msg, mag_cal_report->compass_id, mag_cal_report->cal_mask, mag_cal_report->cal_status, mag_cal_report->autosaved, mag_cal_report->fitness, mag_cal_report->ofs_x, mag_cal_report->ofs_y, mag_cal_report->ofs_z, mag_cal_report->diag_x, mag_cal_report->diag_y, mag_cal_report->diag_z, mag_cal_report->offdiag_x, mag_cal_report->offdiag_y, mag_cal_report->offdiag_z);
|
|
}
|
|
|
|
/**
|
|
* @brief Encode a mag_cal_report struct on a channel
|
|
*
|
|
* @param system_id ID of this system
|
|
* @param component_id ID of this component (e.g. 200 for IMU)
|
|
* @param chan The MAVLink channel this message will be sent over
|
|
* @param msg The MAVLink message to compress the data into
|
|
* @param mag_cal_report C-struct to read the message contents from
|
|
*/
|
|
static inline uint16_t mavlink_msg_mag_cal_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t *msg, const mavlink_mag_cal_report_t *mag_cal_report)
|
|
{
|
|
return mavlink_msg_mag_cal_report_pack_chan(system_id, component_id, chan, msg, mag_cal_report->compass_id, mag_cal_report->cal_mask, mag_cal_report->cal_status, mag_cal_report->autosaved, mag_cal_report->fitness, mag_cal_report->ofs_x, mag_cal_report->ofs_y, mag_cal_report->ofs_z, mag_cal_report->diag_x, mag_cal_report->diag_y, mag_cal_report->diag_z, mag_cal_report->offdiag_x, mag_cal_report->offdiag_y, mag_cal_report->offdiag_z);
|
|
}
|
|
|
|
/**
|
|
* @brief Send a mag_cal_report message
|
|
* @param chan MAVLink channel to send the message
|
|
*
|
|
* @param compass_id Compass being calibrated.
|
|
* @param cal_mask Bitmask of compasses being calibrated.
|
|
* @param cal_status Calibration Status.
|
|
* @param autosaved 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
|
|
* @param fitness [mgauss] RMS milligauss residuals.
|
|
* @param ofs_x X offset.
|
|
* @param ofs_y Y offset.
|
|
* @param ofs_z Z offset.
|
|
* @param diag_x X diagonal (matrix 11).
|
|
* @param diag_y Y diagonal (matrix 22).
|
|
* @param diag_z Z diagonal (matrix 33).
|
|
* @param offdiag_x X off-diagonal (matrix 12 and 21).
|
|
* @param offdiag_y Y off-diagonal (matrix 13 and 31).
|
|
* @param offdiag_z Z off-diagonal (matrix 32 and 23).
|
|
*/
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
|
static inline void mavlink_msg_mag_cal_report_send(mavlink_channel_t chan, uint8_t compass_id, uint8_t cal_mask, uint8_t cal_status, uint8_t autosaved, float fitness, float ofs_x, float ofs_y, float ofs_z, float diag_x, float diag_y, float diag_z, float offdiag_x, float offdiag_y, float offdiag_z)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char buf[MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN];
|
|
_mav_put_float(buf, 0, fitness);
|
|
_mav_put_float(buf, 4, ofs_x);
|
|
_mav_put_float(buf, 8, ofs_y);
|
|
_mav_put_float(buf, 12, ofs_z);
|
|
_mav_put_float(buf, 16, diag_x);
|
|
_mav_put_float(buf, 20, diag_y);
|
|
_mav_put_float(buf, 24, diag_z);
|
|
_mav_put_float(buf, 28, offdiag_x);
|
|
_mav_put_float(buf, 32, offdiag_y);
|
|
_mav_put_float(buf, 36, offdiag_z);
|
|
_mav_put_uint8_t(buf, 40, compass_id);
|
|
_mav_put_uint8_t(buf, 41, cal_mask);
|
|
_mav_put_uint8_t(buf, 42, cal_status);
|
|
_mav_put_uint8_t(buf, 43, autosaved);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MAG_CAL_REPORT, buf, MAVLINK_MSG_ID_MAG_CAL_REPORT_MIN_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_CRC);
|
|
#else
|
|
mavlink_mag_cal_report_t packet;
|
|
packet.fitness = fitness;
|
|
packet.ofs_x = ofs_x;
|
|
packet.ofs_y = ofs_y;
|
|
packet.ofs_z = ofs_z;
|
|
packet.diag_x = diag_x;
|
|
packet.diag_y = diag_y;
|
|
packet.diag_z = diag_z;
|
|
packet.offdiag_x = offdiag_x;
|
|
packet.offdiag_y = offdiag_y;
|
|
packet.offdiag_z = offdiag_z;
|
|
packet.compass_id = compass_id;
|
|
packet.cal_mask = cal_mask;
|
|
packet.cal_status = cal_status;
|
|
packet.autosaved = autosaved;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MAG_CAL_REPORT, (const char *)&packet, MAVLINK_MSG_ID_MAG_CAL_REPORT_MIN_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a mag_cal_report message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_mag_cal_report_send_struct(mavlink_channel_t chan, const mavlink_mag_cal_report_t *mag_cal_report)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_mag_cal_report_send(chan, mag_cal_report->compass_id, mag_cal_report->cal_mask, mag_cal_report->cal_status, mag_cal_report->autosaved, mag_cal_report->fitness, mag_cal_report->ofs_x, mag_cal_report->ofs_y, mag_cal_report->ofs_z, mag_cal_report->diag_x, mag_cal_report->diag_y, mag_cal_report->diag_z, mag_cal_report->offdiag_x, mag_cal_report->offdiag_y, mag_cal_report->offdiag_z);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MAG_CAL_REPORT, (const char *)mag_cal_report, MAVLINK_MSG_ID_MAG_CAL_REPORT_MIN_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_MAG_CAL_REPORT_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_mag_cal_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t compass_id, uint8_t cal_mask, uint8_t cal_status, uint8_t autosaved, float fitness, float ofs_x, float ofs_y, float ofs_z, float diag_x, float diag_y, float diag_z, float offdiag_x, float offdiag_y, float offdiag_z)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_float(buf, 0, fitness);
|
|
_mav_put_float(buf, 4, ofs_x);
|
|
_mav_put_float(buf, 8, ofs_y);
|
|
_mav_put_float(buf, 12, ofs_z);
|
|
_mav_put_float(buf, 16, diag_x);
|
|
_mav_put_float(buf, 20, diag_y);
|
|
_mav_put_float(buf, 24, diag_z);
|
|
_mav_put_float(buf, 28, offdiag_x);
|
|
_mav_put_float(buf, 32, offdiag_y);
|
|
_mav_put_float(buf, 36, offdiag_z);
|
|
_mav_put_uint8_t(buf, 40, compass_id);
|
|
_mav_put_uint8_t(buf, 41, cal_mask);
|
|
_mav_put_uint8_t(buf, 42, cal_status);
|
|
_mav_put_uint8_t(buf, 43, autosaved);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MAG_CAL_REPORT, buf, MAVLINK_MSG_ID_MAG_CAL_REPORT_MIN_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_CRC);
|
|
#else
|
|
mavlink_mag_cal_report_t *packet = (mavlink_mag_cal_report_t *)msgbuf;
|
|
packet->fitness = fitness;
|
|
packet->ofs_x = ofs_x;
|
|
packet->ofs_y = ofs_y;
|
|
packet->ofs_z = ofs_z;
|
|
packet->diag_x = diag_x;
|
|
packet->diag_y = diag_y;
|
|
packet->diag_z = diag_z;
|
|
packet->offdiag_x = offdiag_x;
|
|
packet->offdiag_y = offdiag_y;
|
|
packet->offdiag_z = offdiag_z;
|
|
packet->compass_id = compass_id;
|
|
packet->cal_mask = cal_mask;
|
|
packet->cal_status = cal_status;
|
|
packet->autosaved = autosaved;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MAG_CAL_REPORT, (const char *)packet, MAVLINK_MSG_ID_MAG_CAL_REPORT_MIN_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN, MAVLINK_MSG_ID_MAG_CAL_REPORT_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE MAG_CAL_REPORT UNPACKING
|
|
|
|
/**
|
|
* @brief Get field compass_id from mag_cal_report message
|
|
*
|
|
* @return Compass being calibrated.
|
|
*/
|
|
static inline uint8_t mavlink_msg_mag_cal_report_get_compass_id(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field cal_mask from mag_cal_report message
|
|
*
|
|
* @return Bitmask of compasses being calibrated.
|
|
*/
|
|
static inline uint8_t mavlink_msg_mag_cal_report_get_cal_mask(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 41);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field cal_status from mag_cal_report message
|
|
*
|
|
* @return Calibration Status.
|
|
*/
|
|
static inline uint8_t mavlink_msg_mag_cal_report_get_cal_status(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 42);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field autosaved from mag_cal_report message
|
|
*
|
|
* @return 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters.
|
|
*/
|
|
static inline uint8_t mavlink_msg_mag_cal_report_get_autosaved(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 43);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field fitness from mag_cal_report message
|
|
*
|
|
* @return [mgauss] RMS milligauss residuals.
|
|
*/
|
|
static inline float mavlink_msg_mag_cal_report_get_fitness(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ofs_x from mag_cal_report message
|
|
*
|
|
* @return X offset.
|
|
*/
|
|
static inline float mavlink_msg_mag_cal_report_get_ofs_x(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ofs_y from mag_cal_report message
|
|
*
|
|
* @return Y offset.
|
|
*/
|
|
static inline float mavlink_msg_mag_cal_report_get_ofs_y(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ofs_z from mag_cal_report message
|
|
*
|
|
* @return Z offset.
|
|
*/
|
|
static inline float mavlink_msg_mag_cal_report_get_ofs_z(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field diag_x from mag_cal_report message
|
|
*
|
|
* @return X diagonal (matrix 11).
|
|
*/
|
|
static inline float mavlink_msg_mag_cal_report_get_diag_x(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field diag_y from mag_cal_report message
|
|
*
|
|
* @return Y diagonal (matrix 22).
|
|
*/
|
|
static inline float mavlink_msg_mag_cal_report_get_diag_y(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field diag_z from mag_cal_report message
|
|
*
|
|
* @return Z diagonal (matrix 33).
|
|
*/
|
|
static inline float mavlink_msg_mag_cal_report_get_diag_z(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field offdiag_x from mag_cal_report message
|
|
*
|
|
* @return X off-diagonal (matrix 12 and 21).
|
|
*/
|
|
static inline float mavlink_msg_mag_cal_report_get_offdiag_x(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field offdiag_y from mag_cal_report message
|
|
*
|
|
* @return Y off-diagonal (matrix 13 and 31).
|
|
*/
|
|
static inline float mavlink_msg_mag_cal_report_get_offdiag_y(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field offdiag_z from mag_cal_report message
|
|
*
|
|
* @return Z off-diagonal (matrix 32 and 23).
|
|
*/
|
|
static inline float mavlink_msg_mag_cal_report_get_offdiag_z(const mavlink_message_t *msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a mag_cal_report message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param mag_cal_report C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_mag_cal_report_decode(const mavlink_message_t *msg, mavlink_mag_cal_report_t *mag_cal_report)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mag_cal_report->fitness = mavlink_msg_mag_cal_report_get_fitness(msg);
|
|
mag_cal_report->ofs_x = mavlink_msg_mag_cal_report_get_ofs_x(msg);
|
|
mag_cal_report->ofs_y = mavlink_msg_mag_cal_report_get_ofs_y(msg);
|
|
mag_cal_report->ofs_z = mavlink_msg_mag_cal_report_get_ofs_z(msg);
|
|
mag_cal_report->diag_x = mavlink_msg_mag_cal_report_get_diag_x(msg);
|
|
mag_cal_report->diag_y = mavlink_msg_mag_cal_report_get_diag_y(msg);
|
|
mag_cal_report->diag_z = mavlink_msg_mag_cal_report_get_diag_z(msg);
|
|
mag_cal_report->offdiag_x = mavlink_msg_mag_cal_report_get_offdiag_x(msg);
|
|
mag_cal_report->offdiag_y = mavlink_msg_mag_cal_report_get_offdiag_y(msg);
|
|
mag_cal_report->offdiag_z = mavlink_msg_mag_cal_report_get_offdiag_z(msg);
|
|
mag_cal_report->compass_id = mavlink_msg_mag_cal_report_get_compass_id(msg);
|
|
mag_cal_report->cal_mask = mavlink_msg_mag_cal_report_get_cal_mask(msg);
|
|
mag_cal_report->cal_status = mavlink_msg_mag_cal_report_get_cal_status(msg);
|
|
mag_cal_report->autosaved = mavlink_msg_mag_cal_report_get_autosaved(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN ? msg->len : MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN;
|
|
memset(mag_cal_report, 0, MAVLINK_MSG_ID_MAG_CAL_REPORT_LEN);
|
|
memcpy(mag_cal_report, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|