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104 lines
3.3 KiB
104 lines
3.3 KiB
// MESSAGE OBS_ATTITUDE PACKING |
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#define MAVLINK_MSG_ID_OBS_ATTITUDE 174 |
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typedef struct __mavlink_obs_attitude_t |
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{ |
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double quat[4]; ///< Quaternion re;im |
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} mavlink_obs_attitude_t; |
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#define MAVLINK_MSG_OBS_ATTITUDE_FIELD_QUAT_LEN 4 |
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/** |
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* @brief Pack a obs_attitude 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 quat Quaternion re;im |
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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_obs_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const double* quat) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE; |
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i += put_array_by_index((const int8_t*)quat, sizeof(double)*4, i, msg->payload); // Quaternion re;im |
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return mavlink_finalize_message(msg, system_id, component_id, i); |
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} |
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/** |
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* @brief Pack a obs_attitude 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 chan The MAVLink channel this message was sent over |
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* @param msg The MAVLink message to compress the data into |
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* @param quat Quaternion re;im |
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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_obs_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const double* quat) |
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{ |
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uint16_t i = 0; |
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msg->msgid = MAVLINK_MSG_ID_OBS_ATTITUDE; |
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i += put_array_by_index((const int8_t*)quat, sizeof(double)*4, i, msg->payload); // Quaternion re;im |
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
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} |
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/** |
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* @brief Encode a obs_attitude struct into a message |
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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 obs_attitude C-struct to read the message contents from |
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*/ |
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static inline uint16_t mavlink_msg_obs_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_attitude_t* obs_attitude) |
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{ |
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return mavlink_msg_obs_attitude_pack(system_id, component_id, msg, obs_attitude->quat); |
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} |
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/** |
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* @brief Send a obs_attitude message |
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* @param chan MAVLink channel to send the message |
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* |
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* @param quat Quaternion re;im |
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*/ |
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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static inline void mavlink_msg_obs_attitude_send(mavlink_channel_t chan, const double* quat) |
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{ |
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mavlink_message_t msg; |
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mavlink_msg_obs_attitude_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, quat); |
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mavlink_send_uart(chan, &msg); |
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} |
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#endif |
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// MESSAGE OBS_ATTITUDE UNPACKING |
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/** |
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* @brief Get field quat from obs_attitude message |
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* |
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* @return Quaternion re;im |
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*/ |
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static inline uint16_t mavlink_msg_obs_attitude_get_quat(const mavlink_message_t* msg, double* r_data) |
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{ |
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memcpy(r_data, msg->payload, sizeof(double)*4); |
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return sizeof(double)*4; |
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} |
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/** |
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* @brief Decode a obs_attitude message into a struct |
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* |
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* @param msg The message to decode |
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* @param obs_attitude C-struct to decode the message contents into |
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*/ |
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static inline void mavlink_msg_obs_attitude_decode(const mavlink_message_t* msg, mavlink_obs_attitude_t* obs_attitude) |
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{ |
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mavlink_msg_obs_attitude_get_quat(msg, obs_attitude->quat); |
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}
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