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57 lines
1.3 KiB
57 lines
1.3 KiB
15 years ago
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// MESSAGE ATTITUDE PACKING
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#define MESSAGE_ID_ATTITUDE 90
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/**
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* @brief Send a attitude message
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*
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* @param roll Roll angle (rad)
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* @param pitch Pitch angle (rad)
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* @param yaw Yaw angle (rad)
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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 message_attitude_pack(uint8_t system_id, CommMessage_t* msg, float roll, float pitch, float yaw)
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{
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msg->msgid = MESSAGE_ID_ATTITUDE;
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uint16_t i = 0;
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i += put_float_by_index(roll, i, msg->payload); //Roll angle (rad)
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i += put_float_by_index(pitch, i, msg->payload); //Pitch angle (rad)
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i += put_float_by_index(yaw, i, msg->payload); //Yaw angle (rad)
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return finalize_message(msg, system_id, i);
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}
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// MESSAGE ATTITUDE UNPACKING
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/**
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* @brief Get field roll from attitude message
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*
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* @return Roll angle (rad)
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*/
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static inline float message_attitude_get_roll(CommMessage_t* msg)
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{
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return *((float*) (void*)msg->payload);
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}
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/**
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* @brief Get field pitch from attitude message
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*
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* @return Pitch angle (rad)
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*/
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static inline float message_attitude_get_pitch(CommMessage_t* msg)
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{
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return *((float*) (void*)msg->payload+sizeof(float));
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}
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/**
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* @brief Get field yaw from attitude message
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*
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* @return Yaw angle (rad)
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*/
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static inline float message_attitude_get_yaw(CommMessage_t* msg)
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{
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return *((float*) (void*)msg->payload+sizeof(float)+sizeof(float));
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}
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