#pragma once // MESSAGE VIBRATION PACKING #define MAVLINK_MSG_ID_VIBRATION 241 MAVPACKED( typedef struct __mavlink_vibration_t { uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/ float vibration_x; /*< Vibration levels on X-axis*/ float vibration_y; /*< Vibration levels on Y-axis*/ float vibration_z; /*< Vibration levels on Z-axis*/ uint32_t clipping_0; /*< first accelerometer clipping count*/ uint32_t clipping_1; /*< second accelerometer clipping count*/ uint32_t clipping_2; /*< third accelerometer clipping count*/ }) mavlink_vibration_t; #define MAVLINK_MSG_ID_VIBRATION_LEN 32 #define MAVLINK_MSG_ID_VIBRATION_MIN_LEN 32 #define MAVLINK_MSG_ID_241_LEN 32 #define MAVLINK_MSG_ID_241_MIN_LEN 32 #define MAVLINK_MSG_ID_VIBRATION_CRC 90 #define MAVLINK_MSG_ID_241_CRC 90 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_VIBRATION { \ 241, \ "VIBRATION", \ 7, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vibration_t, time_usec) }, \ { "vibration_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vibration_t, vibration_x) }, \ { "vibration_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vibration_t, vibration_y) }, \ { "vibration_z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vibration_t, vibration_z) }, \ { "clipping_0", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_vibration_t, clipping_0) }, \ { "clipping_1", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_vibration_t, clipping_1) }, \ { "clipping_2", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_vibration_t, clipping_2) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_VIBRATION { \ "VIBRATION", \ 7, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vibration_t, time_usec) }, \ { "vibration_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vibration_t, vibration_x) }, \ { "vibration_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vibration_t, vibration_y) }, \ { "vibration_z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vibration_t, vibration_z) }, \ { "clipping_0", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_vibration_t, clipping_0) }, \ { "clipping_1", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_vibration_t, clipping_1) }, \ { "clipping_2", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_vibration_t, clipping_2) }, \ } \ } #endif /** * @brief Pack a vibration 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_usec Timestamp (micros since boot or Unix epoch) * @param vibration_x Vibration levels on X-axis * @param vibration_y Vibration levels on Y-axis * @param vibration_z Vibration levels on Z-axis * @param clipping_0 first accelerometer clipping count * @param clipping_1 second accelerometer clipping count * @param clipping_2 third accelerometer clipping count * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_vibration_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec, float vibration_x, float vibration_y, float vibration_z, uint32_t clipping_0, uint32_t clipping_1, uint32_t clipping_2) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_VIBRATION_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, vibration_x); _mav_put_float(buf, 12, vibration_y); _mav_put_float(buf, 16, vibration_z); _mav_put_uint32_t(buf, 20, clipping_0); _mav_put_uint32_t(buf, 24, clipping_1); _mav_put_uint32_t(buf, 28, clipping_2); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VIBRATION_LEN); #else mavlink_vibration_t packet; packet.time_usec = time_usec; packet.vibration_x = vibration_x; packet.vibration_y = vibration_y; packet.vibration_z = vibration_z; packet.clipping_0 = clipping_0; packet.clipping_1 = clipping_1; packet.clipping_2 = clipping_2; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VIBRATION_LEN); #endif msg->msgid = MAVLINK_MSG_ID_VIBRATION; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC); } /** * @brief Pack a vibration 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_usec Timestamp (micros since boot or Unix epoch) * @param vibration_x Vibration levels on X-axis * @param vibration_y Vibration levels on Y-axis * @param vibration_z Vibration levels on Z-axis * @param clipping_0 first accelerometer clipping count * @param clipping_1 second accelerometer clipping count * @param clipping_2 third accelerometer clipping count * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_vibration_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec,float vibration_x,float vibration_y,float vibration_z,uint32_t clipping_0,uint32_t clipping_1,uint32_t clipping_2) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_VIBRATION_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, vibration_x); _mav_put_float(buf, 12, vibration_y); _mav_put_float(buf, 16, vibration_z); _mav_put_uint32_t(buf, 20, clipping_0); _mav_put_uint32_t(buf, 24, clipping_1); _mav_put_uint32_t(buf, 28, clipping_2); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VIBRATION_LEN); #else mavlink_vibration_t packet; packet.time_usec = time_usec; packet.vibration_x = vibration_x; packet.vibration_y = vibration_y; packet.vibration_z = vibration_z; packet.clipping_0 = clipping_0; packet.clipping_1 = clipping_1; packet.clipping_2 = clipping_2; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VIBRATION_LEN); #endif msg->msgid = MAVLINK_MSG_ID_VIBRATION; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC); } /** * @brief Encode a vibration 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 vibration C-struct to read the message contents from */ static inline uint16_t mavlink_msg_vibration_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vibration_t* vibration) { return mavlink_msg_vibration_pack(system_id, component_id, msg, vibration->time_usec, vibration->vibration_x, vibration->vibration_y, vibration->vibration_z, vibration->clipping_0, vibration->clipping_1, vibration->clipping_2); } /** * @brief Encode a vibration 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 vibration C-struct to read the message contents from */ static inline uint16_t mavlink_msg_vibration_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vibration_t* vibration) { return mavlink_msg_vibration_pack_chan(system_id, component_id, chan, msg, vibration->time_usec, vibration->vibration_x, vibration->vibration_y, vibration->vibration_z, vibration->clipping_0, vibration->clipping_1, vibration->clipping_2); } /** * @brief Send a vibration message * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (micros since boot or Unix epoch) * @param vibration_x Vibration levels on X-axis * @param vibration_y Vibration levels on Y-axis * @param vibration_z Vibration levels on Z-axis * @param clipping_0 first accelerometer clipping count * @param clipping_1 second accelerometer clipping count * @param clipping_2 third accelerometer clipping count */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_vibration_send(mavlink_channel_t chan, uint64_t time_usec, float vibration_x, float vibration_y, float vibration_z, uint32_t clipping_0, uint32_t clipping_1, uint32_t clipping_2) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_VIBRATION_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, vibration_x); _mav_put_float(buf, 12, vibration_y); _mav_put_float(buf, 16, vibration_z); _mav_put_uint32_t(buf, 20, clipping_0); _mav_put_uint32_t(buf, 24, clipping_1); _mav_put_uint32_t(buf, 28, clipping_2); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, buf, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC); #else mavlink_vibration_t packet; packet.time_usec = time_usec; packet.vibration_x = vibration_x; packet.vibration_y = vibration_y; packet.vibration_z = vibration_z; packet.clipping_0 = clipping_0; packet.clipping_1 = clipping_1; packet.clipping_2 = clipping_2; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, (const char *)&packet, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC); #endif } /** * @brief Send a vibration message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_vibration_send_struct(mavlink_channel_t chan, const mavlink_vibration_t* vibration) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_vibration_send(chan, vibration->time_usec, vibration->vibration_x, vibration->vibration_y, vibration->vibration_z, vibration->clipping_0, vibration->clipping_1, vibration->clipping_2); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, (const char *)vibration, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC); #endif } #if MAVLINK_MSG_ID_VIBRATION_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_vibration_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float vibration_x, float vibration_y, float vibration_z, uint32_t clipping_0, uint32_t clipping_1, uint32_t clipping_2) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, vibration_x); _mav_put_float(buf, 12, vibration_y); _mav_put_float(buf, 16, vibration_z); _mav_put_uint32_t(buf, 20, clipping_0); _mav_put_uint32_t(buf, 24, clipping_1); _mav_put_uint32_t(buf, 28, clipping_2); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, buf, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC); #else mavlink_vibration_t *packet = (mavlink_vibration_t *)msgbuf; packet->time_usec = time_usec; packet->vibration_x = vibration_x; packet->vibration_y = vibration_y; packet->vibration_z = vibration_z; packet->clipping_0 = clipping_0; packet->clipping_1 = clipping_1; packet->clipping_2 = clipping_2; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VIBRATION, (const char *)packet, MAVLINK_MSG_ID_VIBRATION_MIN_LEN, MAVLINK_MSG_ID_VIBRATION_LEN, MAVLINK_MSG_ID_VIBRATION_CRC); #endif } #endif #endif // MESSAGE VIBRATION UNPACKING /** * @brief Get field time_usec from vibration message * * @return Timestamp (micros since boot or Unix epoch) */ static inline uint64_t mavlink_msg_vibration_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field vibration_x from vibration message * * @return Vibration levels on X-axis */ static inline float mavlink_msg_vibration_get_vibration_x(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field vibration_y from vibration message * * @return Vibration levels on Y-axis */ static inline float mavlink_msg_vibration_get_vibration_y(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field vibration_z from vibration message * * @return Vibration levels on Z-axis */ static inline float mavlink_msg_vibration_get_vibration_z(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field clipping_0 from vibration message * * @return first accelerometer clipping count */ static inline uint32_t mavlink_msg_vibration_get_clipping_0(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 20); } /** * @brief Get field clipping_1 from vibration message * * @return second accelerometer clipping count */ static inline uint32_t mavlink_msg_vibration_get_clipping_1(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 24); } /** * @brief Get field clipping_2 from vibration message * * @return third accelerometer clipping count */ static inline uint32_t mavlink_msg_vibration_get_clipping_2(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 28); } /** * @brief Decode a vibration message into a struct * * @param msg The message to decode * @param vibration C-struct to decode the message contents into */ static inline void mavlink_msg_vibration_decode(const mavlink_message_t* msg, mavlink_vibration_t* vibration) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS vibration->time_usec = mavlink_msg_vibration_get_time_usec(msg); vibration->vibration_x = mavlink_msg_vibration_get_vibration_x(msg); vibration->vibration_y = mavlink_msg_vibration_get_vibration_y(msg); vibration->vibration_z = mavlink_msg_vibration_get_vibration_z(msg); vibration->clipping_0 = mavlink_msg_vibration_get_clipping_0(msg); vibration->clipping_1 = mavlink_msg_vibration_get_clipping_1(msg); vibration->clipping_2 = mavlink_msg_vibration_get_clipping_2(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_VIBRATION_LEN? msg->len : MAVLINK_MSG_ID_VIBRATION_LEN; memset(vibration, 0, MAVLINK_MSG_ID_VIBRATION_LEN); memcpy(vibration, _MAV_PAYLOAD(msg), len); #endif }