#pragma once // MESSAGE SCALED_IMU2 PACKING #define MAVLINK_MSG_ID_SCALED_IMU2 116 MAVPACKED( typedef struct __mavlink_scaled_imu2_t { uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/ int16_t xacc; /*< X acceleration (mg)*/ int16_t yacc; /*< Y acceleration (mg)*/ int16_t zacc; /*< Z acceleration (mg)*/ int16_t xgyro; /*< Angular speed around X axis (millirad /sec)*/ int16_t ygyro; /*< Angular speed around Y axis (millirad /sec)*/ int16_t zgyro; /*< Angular speed around Z axis (millirad /sec)*/ int16_t xmag; /*< X Magnetic field (milli tesla)*/ int16_t ymag; /*< Y Magnetic field (milli tesla)*/ int16_t zmag; /*< Z Magnetic field (milli tesla)*/ }) mavlink_scaled_imu2_t; #define MAVLINK_MSG_ID_SCALED_IMU2_LEN 22 #define MAVLINK_MSG_ID_SCALED_IMU2_MIN_LEN 22 #define MAVLINK_MSG_ID_116_LEN 22 #define MAVLINK_MSG_ID_116_MIN_LEN 22 #define MAVLINK_MSG_ID_SCALED_IMU2_CRC 76 #define MAVLINK_MSG_ID_116_CRC 76 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_SCALED_IMU2 { \ 116, \ "SCALED_IMU2", \ 10, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu2_t, time_boot_ms) }, \ { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu2_t, xacc) }, \ { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu2_t, yacc) }, \ { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu2_t, zacc) }, \ { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu2_t, xgyro) }, \ { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu2_t, ygyro) }, \ { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu2_t, zgyro) }, \ { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu2_t, xmag) }, \ { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu2_t, ymag) }, \ { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu2_t, zmag) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_SCALED_IMU2 { \ "SCALED_IMU2", \ 10, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu2_t, time_boot_ms) }, \ { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu2_t, xacc) }, \ { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu2_t, yacc) }, \ { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu2_t, zacc) }, \ { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu2_t, xgyro) }, \ { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu2_t, ygyro) }, \ { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu2_t, zgyro) }, \ { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu2_t, xmag) }, \ { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu2_t, ymag) }, \ { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu2_t, zmag) }, \ } \ } #endif /** * @brief Pack a scaled_imu2 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 time_boot_ms Timestamp (milliseconds since system boot) * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) * @param xgyro Angular speed around X axis (millirad /sec) * @param ygyro Angular speed around Y axis (millirad /sec) * @param zgyro Angular speed around Z axis (millirad /sec) * @param xmag X Magnetic field (milli tesla) * @param ymag Y Magnetic field (milli tesla) * @param zmag Z Magnetic field (milli tesla) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_scaled_imu2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int16_t(buf, 4, xacc); _mav_put_int16_t(buf, 6, yacc); _mav_put_int16_t(buf, 8, zacc); _mav_put_int16_t(buf, 10, xgyro); _mav_put_int16_t(buf, 12, ygyro); _mav_put_int16_t(buf, 14, zgyro); _mav_put_int16_t(buf, 16, xmag); _mav_put_int16_t(buf, 18, ymag); _mav_put_int16_t(buf, 20, zmag); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN); #else mavlink_scaled_imu2_t packet; packet.time_boot_ms = time_boot_ms; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; packet.xgyro = xgyro; packet.ygyro = ygyro; packet.zgyro = zgyro; packet.xmag = xmag; packet.ymag = ymag; packet.zmag = zmag; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); } /** * @brief Pack a scaled_imu2 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 time_boot_ms Timestamp (milliseconds since system boot) * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) * @param xgyro Angular speed around X axis (millirad /sec) * @param ygyro Angular speed around Y axis (millirad /sec) * @param zgyro Angular speed around Z axis (millirad /sec) * @param xmag X Magnetic field (milli tesla) * @param ymag Y Magnetic field (milli tesla) * @param zmag Z Magnetic field (milli tesla) * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_scaled_imu2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int16_t(buf, 4, xacc); _mav_put_int16_t(buf, 6, yacc); _mav_put_int16_t(buf, 8, zacc); _mav_put_int16_t(buf, 10, xgyro); _mav_put_int16_t(buf, 12, ygyro); _mav_put_int16_t(buf, 14, zgyro); _mav_put_int16_t(buf, 16, xmag); _mav_put_int16_t(buf, 18, ymag); _mav_put_int16_t(buf, 20, zmag); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN); #else mavlink_scaled_imu2_t packet; packet.time_boot_ms = time_boot_ms; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; packet.xgyro = xgyro; packet.ygyro = ygyro; packet.zgyro = zgyro; packet.xmag = xmag; packet.ymag = ymag; packet.zmag = zmag; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN); #endif msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); } /** * @brief Encode a scaled_imu2 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 scaled_imu2 C-struct to read the message contents from */ static inline uint16_t mavlink_msg_scaled_imu2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2) { return mavlink_msg_scaled_imu2_pack(system_id, component_id, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag); } /** * @brief Encode a scaled_imu2 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 scaled_imu2 C-struct to read the message contents from */ static inline uint16_t mavlink_msg_scaled_imu2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2) { return mavlink_msg_scaled_imu2_pack_chan(system_id, component_id, chan, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag); } /** * @brief Send a scaled_imu2 message * @param chan MAVLink channel to send the message * * @param time_boot_ms Timestamp (milliseconds since system boot) * @param xacc X acceleration (mg) * @param yacc Y acceleration (mg) * @param zacc Z acceleration (mg) * @param xgyro Angular speed around X axis (millirad /sec) * @param ygyro Angular speed around Y axis (millirad /sec) * @param zgyro Angular speed around Z axis (millirad /sec) * @param xmag X Magnetic field (milli tesla) * @param ymag Y Magnetic field (milli tesla) * @param zmag Z Magnetic field (milli tesla) */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_scaled_imu2_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int16_t(buf, 4, xacc); _mav_put_int16_t(buf, 6, yacc); _mav_put_int16_t(buf, 8, zacc); _mav_put_int16_t(buf, 10, xgyro); _mav_put_int16_t(buf, 12, ygyro); _mav_put_int16_t(buf, 14, zgyro); _mav_put_int16_t(buf, 16, xmag); _mav_put_int16_t(buf, 18, ymag); _mav_put_int16_t(buf, 20, zmag); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); #else mavlink_scaled_imu2_t packet; packet.time_boot_ms = time_boot_ms; packet.xacc = xacc; packet.yacc = yacc; packet.zacc = zacc; packet.xgyro = xgyro; packet.ygyro = ygyro; packet.zgyro = zgyro; packet.xmag = xmag; packet.ymag = ymag; packet.zmag = zmag; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); #endif } /** * @brief Send a scaled_imu2 message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_scaled_imu2_send_struct(mavlink_channel_t chan, const mavlink_scaled_imu2_t* scaled_imu2) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_scaled_imu2_send(chan, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)scaled_imu2, MAVLINK_MSG_ID_SCALED_IMU2_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); #endif } #if MAVLINK_MSG_ID_SCALED_IMU2_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_scaled_imu2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_int16_t(buf, 4, xacc); _mav_put_int16_t(buf, 6, yacc); _mav_put_int16_t(buf, 8, zacc); _mav_put_int16_t(buf, 10, xgyro); _mav_put_int16_t(buf, 12, ygyro); _mav_put_int16_t(buf, 14, zgyro); _mav_put_int16_t(buf, 16, xmag); _mav_put_int16_t(buf, 18, ymag); _mav_put_int16_t(buf, 20, zmag); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); #else mavlink_scaled_imu2_t *packet = (mavlink_scaled_imu2_t *)msgbuf; packet->time_boot_ms = time_boot_ms; packet->xacc = xacc; packet->yacc = yacc; packet->zacc = zacc; packet->xgyro = xgyro; packet->ygyro = ygyro; packet->zgyro = zgyro; packet->xmag = xmag; packet->ymag = ymag; packet->zmag = zmag; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU2_MIN_LEN, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC); #endif } #endif #endif // MESSAGE SCALED_IMU2 UNPACKING /** * @brief Get field time_boot_ms from scaled_imu2 message * * @return Timestamp (milliseconds since system boot) */ static inline uint32_t mavlink_msg_scaled_imu2_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field xacc from scaled_imu2 message * * @return X acceleration (mg) */ static inline int16_t mavlink_msg_scaled_imu2_get_xacc(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 4); } /** * @brief Get field yacc from scaled_imu2 message * * @return Y acceleration (mg) */ static inline int16_t mavlink_msg_scaled_imu2_get_yacc(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 6); } /** * @brief Get field zacc from scaled_imu2 message * * @return Z acceleration (mg) */ static inline int16_t mavlink_msg_scaled_imu2_get_zacc(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 8); } /** * @brief Get field xgyro from scaled_imu2 message * * @return Angular speed around X axis (millirad /sec) */ static inline int16_t mavlink_msg_scaled_imu2_get_xgyro(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 10); } /** * @brief Get field ygyro from scaled_imu2 message * * @return Angular speed around Y axis (millirad /sec) */ static inline int16_t mavlink_msg_scaled_imu2_get_ygyro(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 12); } /** * @brief Get field zgyro from scaled_imu2 message * * @return Angular speed around Z axis (millirad /sec) */ static inline int16_t mavlink_msg_scaled_imu2_get_zgyro(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 14); } /** * @brief Get field xmag from scaled_imu2 message * * @return X Magnetic field (milli tesla) */ static inline int16_t mavlink_msg_scaled_imu2_get_xmag(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 16); } /** * @brief Get field ymag from scaled_imu2 message * * @return Y Magnetic field (milli tesla) */ static inline int16_t mavlink_msg_scaled_imu2_get_ymag(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 18); } /** * @brief Get field zmag from scaled_imu2 message * * @return Z Magnetic field (milli tesla) */ static inline int16_t mavlink_msg_scaled_imu2_get_zmag(const mavlink_message_t* msg) { return _MAV_RETURN_int16_t(msg, 20); } /** * @brief Decode a scaled_imu2 message into a struct * * @param msg The message to decode * @param scaled_imu2 C-struct to decode the message contents into */ static inline void mavlink_msg_scaled_imu2_decode(const mavlink_message_t* msg, mavlink_scaled_imu2_t* scaled_imu2) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS scaled_imu2->time_boot_ms = mavlink_msg_scaled_imu2_get_time_boot_ms(msg); scaled_imu2->xacc = mavlink_msg_scaled_imu2_get_xacc(msg); scaled_imu2->yacc = mavlink_msg_scaled_imu2_get_yacc(msg); scaled_imu2->zacc = mavlink_msg_scaled_imu2_get_zacc(msg); scaled_imu2->xgyro = mavlink_msg_scaled_imu2_get_xgyro(msg); scaled_imu2->ygyro = mavlink_msg_scaled_imu2_get_ygyro(msg); scaled_imu2->zgyro = mavlink_msg_scaled_imu2_get_zgyro(msg); scaled_imu2->xmag = mavlink_msg_scaled_imu2_get_xmag(msg); scaled_imu2->ymag = mavlink_msg_scaled_imu2_get_ymag(msg); scaled_imu2->zmag = mavlink_msg_scaled_imu2_get_zmag(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_SCALED_IMU2_LEN? msg->len : MAVLINK_MSG_ID_SCALED_IMU2_LEN; memset(scaled_imu2, 0, MAVLINK_MSG_ID_SCALED_IMU2_LEN); memcpy(scaled_imu2, _MAV_PAYLOAD(msg), len); #endif }