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
339 lines
13 KiB
C
339 lines
13 KiB
C
#pragma once
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// MESSAGE SENSOR_BIAS PACKING
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#define MAVLINK_MSG_ID_SENSOR_BIAS 172
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MAVPACKED(
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typedef struct __mavlink_sensor_bias_t {
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float axBias; /*< [m/s] Accelerometer X bias*/
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float ayBias; /*< [m/s] Accelerometer Y bias*/
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float azBias; /*< [m/s] Accelerometer Z bias*/
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float gxBias; /*< [rad/s] Gyro X bias*/
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float gyBias; /*< [rad/s] Gyro Y bias*/
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float gzBias; /*< [rad/s] Gyro Z bias*/
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}) mavlink_sensor_bias_t;
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#define MAVLINK_MSG_ID_SENSOR_BIAS_LEN 24
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#define MAVLINK_MSG_ID_SENSOR_BIAS_MIN_LEN 24
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#define MAVLINK_MSG_ID_172_LEN 24
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#define MAVLINK_MSG_ID_172_MIN_LEN 24
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#define MAVLINK_MSG_ID_SENSOR_BIAS_CRC 168
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#define MAVLINK_MSG_ID_172_CRC 168
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_SENSOR_BIAS { \
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172, \
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"SENSOR_BIAS", \
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6, \
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{ { "axBias", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_bias_t, axBias) }, \
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{ "ayBias", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sensor_bias_t, ayBias) }, \
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{ "azBias", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sensor_bias_t, azBias) }, \
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{ "gxBias", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_bias_t, gxBias) }, \
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{ "gyBias", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_bias_t, gyBias) }, \
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{ "gzBias", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_bias_t, gzBias) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_SENSOR_BIAS { \
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"SENSOR_BIAS", \
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6, \
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{ { "axBias", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_sensor_bias_t, axBias) }, \
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{ "ayBias", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_sensor_bias_t, ayBias) }, \
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{ "azBias", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_sensor_bias_t, azBias) }, \
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{ "gxBias", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_sensor_bias_t, gxBias) }, \
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{ "gyBias", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_sensor_bias_t, gyBias) }, \
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{ "gzBias", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_sensor_bias_t, gzBias) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a sensor_bias 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 axBias [m/s] Accelerometer X bias
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* @param ayBias [m/s] Accelerometer Y bias
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* @param azBias [m/s] Accelerometer Z bias
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* @param gxBias [rad/s] Gyro X bias
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* @param gyBias [rad/s] Gyro Y bias
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* @param gzBias [rad/s] Gyro Z bias
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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_sensor_bias_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
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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_SENSOR_BIAS_LEN];
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_mav_put_float(buf, 0, axBias);
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_mav_put_float(buf, 4, ayBias);
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_mav_put_float(buf, 8, azBias);
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_mav_put_float(buf, 12, gxBias);
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_mav_put_float(buf, 16, gyBias);
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_mav_put_float(buf, 20, gzBias);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SENSOR_BIAS_LEN);
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#else
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mavlink_sensor_bias_t packet;
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packet.axBias = axBias;
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packet.ayBias = ayBias;
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packet.azBias = azBias;
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packet.gxBias = gxBias;
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packet.gyBias = gyBias;
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packet.gzBias = gzBias;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SENSOR_BIAS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SENSOR_BIAS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_CRC);
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}
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/**
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* @brief Pack a sensor_bias 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 axBias [m/s] Accelerometer X bias
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* @param ayBias [m/s] Accelerometer Y bias
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* @param azBias [m/s] Accelerometer Z bias
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* @param gxBias [rad/s] Gyro X bias
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* @param gyBias [rad/s] Gyro Y bias
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* @param gzBias [rad/s] Gyro Z bias
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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_sensor_bias_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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float axBias,float ayBias,float azBias,float gxBias,float gyBias,float gzBias)
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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_SENSOR_BIAS_LEN];
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_mav_put_float(buf, 0, axBias);
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_mav_put_float(buf, 4, ayBias);
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_mav_put_float(buf, 8, azBias);
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_mav_put_float(buf, 12, gxBias);
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_mav_put_float(buf, 16, gyBias);
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_mav_put_float(buf, 20, gzBias);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SENSOR_BIAS_LEN);
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#else
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mavlink_sensor_bias_t packet;
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packet.axBias = axBias;
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packet.ayBias = ayBias;
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packet.azBias = azBias;
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packet.gxBias = gxBias;
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packet.gyBias = gyBias;
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packet.gzBias = gzBias;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SENSOR_BIAS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SENSOR_BIAS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SENSOR_BIAS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_CRC);
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}
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/**
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* @brief Encode a sensor_bias 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 sensor_bias C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_sensor_bias_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_sensor_bias_t* sensor_bias)
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{
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return mavlink_msg_sensor_bias_pack(system_id, component_id, msg, sensor_bias->axBias, sensor_bias->ayBias, sensor_bias->azBias, sensor_bias->gxBias, sensor_bias->gyBias, sensor_bias->gzBias);
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}
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/**
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* @brief Encode a sensor_bias 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 sensor_bias C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_sensor_bias_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_sensor_bias_t* sensor_bias)
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{
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return mavlink_msg_sensor_bias_pack_chan(system_id, component_id, chan, msg, sensor_bias->axBias, sensor_bias->ayBias, sensor_bias->azBias, sensor_bias->gxBias, sensor_bias->gyBias, sensor_bias->gzBias);
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}
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/**
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* @brief Send a sensor_bias message
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* @param chan MAVLink channel to send the message
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*
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* @param axBias [m/s] Accelerometer X bias
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* @param ayBias [m/s] Accelerometer Y bias
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* @param azBias [m/s] Accelerometer Z bias
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* @param gxBias [rad/s] Gyro X bias
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* @param gyBias [rad/s] Gyro Y bias
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* @param gzBias [rad/s] Gyro Z bias
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_sensor_bias_send(mavlink_channel_t chan, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
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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_SENSOR_BIAS_LEN];
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_mav_put_float(buf, 0, axBias);
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_mav_put_float(buf, 4, ayBias);
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_mav_put_float(buf, 8, azBias);
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_mav_put_float(buf, 12, gxBias);
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_mav_put_float(buf, 16, gyBias);
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_mav_put_float(buf, 20, gzBias);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, buf, MAVLINK_MSG_ID_SENSOR_BIAS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_CRC);
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#else
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mavlink_sensor_bias_t packet;
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packet.axBias = axBias;
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packet.ayBias = ayBias;
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packet.azBias = azBias;
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packet.gxBias = gxBias;
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packet.gyBias = gyBias;
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packet.gzBias = gzBias;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, (const char *)&packet, MAVLINK_MSG_ID_SENSOR_BIAS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_CRC);
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#endif
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}
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/**
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* @brief Send a sensor_bias 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_sensor_bias_send_struct(mavlink_channel_t chan, const mavlink_sensor_bias_t* sensor_bias)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_sensor_bias_send(chan, sensor_bias->axBias, sensor_bias->ayBias, sensor_bias->azBias, sensor_bias->gxBias, sensor_bias->gyBias, sensor_bias->gzBias);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, (const char *)sensor_bias, MAVLINK_MSG_ID_SENSOR_BIAS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_SENSOR_BIAS_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_sensor_bias_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float axBias, float ayBias, float azBias, float gxBias, float gyBias, float gzBias)
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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_float(buf, 0, axBias);
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_mav_put_float(buf, 4, ayBias);
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_mav_put_float(buf, 8, azBias);
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_mav_put_float(buf, 12, gxBias);
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_mav_put_float(buf, 16, gyBias);
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_mav_put_float(buf, 20, gzBias);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, buf, MAVLINK_MSG_ID_SENSOR_BIAS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_CRC);
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#else
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mavlink_sensor_bias_t *packet = (mavlink_sensor_bias_t *)msgbuf;
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packet->axBias = axBias;
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packet->ayBias = ayBias;
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packet->azBias = azBias;
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packet->gxBias = gxBias;
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packet->gyBias = gyBias;
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packet->gzBias = gzBias;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SENSOR_BIAS, (const char *)packet, MAVLINK_MSG_ID_SENSOR_BIAS_MIN_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_LEN, MAVLINK_MSG_ID_SENSOR_BIAS_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 SENSOR_BIAS UNPACKING
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/**
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* @brief Get field axBias from sensor_bias message
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*
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* @return [m/s] Accelerometer X bias
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*/
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static inline float mavlink_msg_sensor_bias_get_axBias(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field ayBias from sensor_bias message
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*
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* @return [m/s] Accelerometer Y bias
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*/
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static inline float mavlink_msg_sensor_bias_get_ayBias(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field azBias from sensor_bias message
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*
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* @return [m/s] Accelerometer Z bias
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*/
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static inline float mavlink_msg_sensor_bias_get_azBias(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 gxBias from sensor_bias message
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*
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* @return [rad/s] Gyro X bias
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*/
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static inline float mavlink_msg_sensor_bias_get_gxBias(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 gyBias from sensor_bias message
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*
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* @return [rad/s] Gyro Y bias
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*/
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static inline float mavlink_msg_sensor_bias_get_gyBias(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 gzBias from sensor_bias message
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*
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* @return [rad/s] Gyro Z bias
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*/
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static inline float mavlink_msg_sensor_bias_get_gzBias(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 Decode a sensor_bias message into a struct
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*
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* @param msg The message to decode
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* @param sensor_bias C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_sensor_bias_decode(const mavlink_message_t* msg, mavlink_sensor_bias_t* sensor_bias)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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sensor_bias->axBias = mavlink_msg_sensor_bias_get_axBias(msg);
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sensor_bias->ayBias = mavlink_msg_sensor_bias_get_ayBias(msg);
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sensor_bias->azBias = mavlink_msg_sensor_bias_get_azBias(msg);
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sensor_bias->gxBias = mavlink_msg_sensor_bias_get_gxBias(msg);
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sensor_bias->gyBias = mavlink_msg_sensor_bias_get_gyBias(msg);
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sensor_bias->gzBias = mavlink_msg_sensor_bias_get_gzBias(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_SENSOR_BIAS_LEN? msg->len : MAVLINK_MSG_ID_SENSOR_BIAS_LEN;
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memset(sensor_bias, 0, MAVLINK_MSG_ID_SENSOR_BIAS_LEN);
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memcpy(sensor_bias, _MAV_PAYLOAD(msg), len);
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#endif
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}
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