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mavlink_msg_attitude.h
1#pragma once
2// MESSAGE ATTITUDE PACKING
3
4#define MAVLINK_MSG_ID_ATTITUDE 30
5
6MAVPACKED(
7typedef struct __mavlink_attitude_t {
8 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
9 float roll; /*< Roll angle (rad, -pi..+pi)*/
10 float pitch; /*< Pitch angle (rad, -pi..+pi)*/
11 float yaw; /*< Yaw angle (rad, -pi..+pi)*/
12 float rollspeed; /*< Roll angular speed (rad/s)*/
13 float pitchspeed; /*< Pitch angular speed (rad/s)*/
14 float yawspeed; /*< Yaw angular speed (rad/s)*/
15}) mavlink_attitude_t;
16
17#define MAVLINK_MSG_ID_ATTITUDE_LEN 28
18#define MAVLINK_MSG_ID_ATTITUDE_MIN_LEN 28
19#define MAVLINK_MSG_ID_30_LEN 28
20#define MAVLINK_MSG_ID_30_MIN_LEN 28
21
22#define MAVLINK_MSG_ID_ATTITUDE_CRC 39
23#define MAVLINK_MSG_ID_30_CRC 39
24
25
26
27#if MAVLINK_COMMAND_24BIT
28#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
29 30, \
30 "ATTITUDE", \
31 7, \
32 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
33 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
34 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
35 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
36 { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
37 { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
38 { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
39 } \
40}
41#else
42#define MAVLINK_MESSAGE_INFO_ATTITUDE { \
43 "ATTITUDE", \
44 7, \
45 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
46 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
47 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
48 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
49 { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
50 { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
51 { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
52 } \
53}
54#endif
55
56/**
57 * @brief Pack a attitude message
58 * @param system_id ID of this system
59 * @param component_id ID of this component (e.g. 200 for IMU)
60 * @param msg The MAVLink message to compress the data into
61 *
62 * @param time_boot_ms Timestamp (milliseconds since system boot)
63 * @param roll Roll angle (rad, -pi..+pi)
64 * @param pitch Pitch angle (rad, -pi..+pi)
65 * @param yaw Yaw angle (rad, -pi..+pi)
66 * @param rollspeed Roll angular speed (rad/s)
67 * @param pitchspeed Pitch angular speed (rad/s)
68 * @param yawspeed Yaw angular speed (rad/s)
69 * @return length of the message in bytes (excluding serial stream start sign)
70 */
71static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
72 uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
73{
74#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
75 char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
76 _mav_put_uint32_t(buf, 0, time_boot_ms);
77 _mav_put_float(buf, 4, roll);
78 _mav_put_float(buf, 8, pitch);
79 _mav_put_float(buf, 12, yaw);
80 _mav_put_float(buf, 16, rollspeed);
81 _mav_put_float(buf, 20, pitchspeed);
82 _mav_put_float(buf, 24, yawspeed);
83
84 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
85#else
86 mavlink_attitude_t packet;
87 packet.time_boot_ms = time_boot_ms;
88 packet.roll = roll;
89 packet.pitch = pitch;
90 packet.yaw = yaw;
91 packet.rollspeed = rollspeed;
92 packet.pitchspeed = pitchspeed;
93 packet.yawspeed = yawspeed;
94
95 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
96#endif
97
98 msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
99 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
100}
101
102/**
103 * @brief Pack a attitude message on a channel
104 * @param system_id ID of this system
105 * @param component_id ID of this component (e.g. 200 for IMU)
106 * @param chan The MAVLink channel this message will be sent over
107 * @param msg The MAVLink message to compress the data into
108 * @param time_boot_ms Timestamp (milliseconds since system boot)
109 * @param roll Roll angle (rad, -pi..+pi)
110 * @param pitch Pitch angle (rad, -pi..+pi)
111 * @param yaw Yaw angle (rad, -pi..+pi)
112 * @param rollspeed Roll angular speed (rad/s)
113 * @param pitchspeed Pitch angular speed (rad/s)
114 * @param yawspeed Yaw angular speed (rad/s)
115 * @return length of the message in bytes (excluding serial stream start sign)
116 */
117static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
118 mavlink_message_t* msg,
119 uint32_t time_boot_ms,float roll,float pitch,float yaw,float rollspeed,float pitchspeed,float yawspeed)
120{
121#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
122 char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
123 _mav_put_uint32_t(buf, 0, time_boot_ms);
124 _mav_put_float(buf, 4, roll);
125 _mav_put_float(buf, 8, pitch);
126 _mav_put_float(buf, 12, yaw);
127 _mav_put_float(buf, 16, rollspeed);
128 _mav_put_float(buf, 20, pitchspeed);
129 _mav_put_float(buf, 24, yawspeed);
130
131 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_LEN);
132#else
133 mavlink_attitude_t packet;
134 packet.time_boot_ms = time_boot_ms;
135 packet.roll = roll;
136 packet.pitch = pitch;
137 packet.yaw = yaw;
138 packet.rollspeed = rollspeed;
139 packet.pitchspeed = pitchspeed;
140 packet.yawspeed = yawspeed;
141
142 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_LEN);
143#endif
144
145 msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
146 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
147}
148
149/**
150 * @brief Encode a attitude struct
151 *
152 * @param system_id ID of this system
153 * @param component_id ID of this component (e.g. 200 for IMU)
154 * @param msg The MAVLink message to compress the data into
155 * @param attitude C-struct to read the message contents from
156 */
157static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
158{
159 return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
160}
161
162/**
163 * @brief Encode a attitude struct on a channel
164 *
165 * @param system_id ID of this system
166 * @param component_id ID of this component (e.g. 200 for IMU)
167 * @param chan The MAVLink channel this message will be sent over
168 * @param msg The MAVLink message to compress the data into
169 * @param attitude C-struct to read the message contents from
170 */
171static inline uint16_t mavlink_msg_attitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_t* attitude)
172{
173 return mavlink_msg_attitude_pack_chan(system_id, component_id, chan, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
174}
175
176/**
177 * @brief Send a attitude message
178 * @param chan MAVLink channel to send the message
179 *
180 * @param time_boot_ms Timestamp (milliseconds since system boot)
181 * @param roll Roll angle (rad, -pi..+pi)
182 * @param pitch Pitch angle (rad, -pi..+pi)
183 * @param yaw Yaw angle (rad, -pi..+pi)
184 * @param rollspeed Roll angular speed (rad/s)
185 * @param pitchspeed Pitch angular speed (rad/s)
186 * @param yawspeed Yaw angular speed (rad/s)
187 */
188#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
189
190static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
191{
192#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
193 char buf[MAVLINK_MSG_ID_ATTITUDE_LEN];
194 _mav_put_uint32_t(buf, 0, time_boot_ms);
195 _mav_put_float(buf, 4, roll);
196 _mav_put_float(buf, 8, pitch);
197 _mav_put_float(buf, 12, yaw);
198 _mav_put_float(buf, 16, rollspeed);
199 _mav_put_float(buf, 20, pitchspeed);
200 _mav_put_float(buf, 24, yawspeed);
201
202 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
203#else
204 mavlink_attitude_t packet;
205 packet.time_boot_ms = time_boot_ms;
206 packet.roll = roll;
207 packet.pitch = pitch;
208 packet.yaw = yaw;
209 packet.rollspeed = rollspeed;
210 packet.pitchspeed = pitchspeed;
211 packet.yawspeed = yawspeed;
212
213 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
214#endif
215}
216
217/**
218 * @brief Send a attitude message
219 * @param chan MAVLink channel to send the message
220 * @param struct The MAVLink struct to serialize
221 */
222static inline void mavlink_msg_attitude_send_struct(mavlink_channel_t chan, const mavlink_attitude_t* attitude)
223{
224#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
225 mavlink_msg_attitude_send(chan, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
226#else
227 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)attitude, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
228#endif
229}
230
231#if MAVLINK_MSG_ID_ATTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
232/*
233 This varient of _send() can be used to save stack space by re-using
234 memory from the receive buffer. The caller provides a
235 mavlink_message_t which is the size of a full mavlink message. This
236 is usually the receive buffer for the channel, and allows a reply to an
237 incoming message with minimum stack space usage.
238 */
239static inline void mavlink_msg_attitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
240{
241#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
242 char *buf = (char *)msgbuf;
243 _mav_put_uint32_t(buf, 0, time_boot_ms);
244 _mav_put_float(buf, 4, roll);
245 _mav_put_float(buf, 8, pitch);
246 _mav_put_float(buf, 12, yaw);
247 _mav_put_float(buf, 16, rollspeed);
248 _mav_put_float(buf, 20, pitchspeed);
249 _mav_put_float(buf, 24, yawspeed);
250
251 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
252#else
253 mavlink_attitude_t *packet = (mavlink_attitude_t *)msgbuf;
254 packet->time_boot_ms = time_boot_ms;
255 packet->roll = roll;
256 packet->pitch = pitch;
257 packet->yaw = yaw;
258 packet->rollspeed = rollspeed;
259 packet->pitchspeed = pitchspeed;
260 packet->yawspeed = yawspeed;
261
262 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_LEN, MAVLINK_MSG_ID_ATTITUDE_CRC);
263#endif
264}
265#endif
266
267#endif
268
269// MESSAGE ATTITUDE UNPACKING
270
271
272/**
273 * @brief Get field time_boot_ms from attitude message
274 *
275 * @return Timestamp (milliseconds since system boot)
276 */
277static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t* msg)
278{
279 return _MAV_RETURN_uint32_t(msg, 0);
280}
281
282/**
283 * @brief Get field roll from attitude message
284 *
285 * @return Roll angle (rad, -pi..+pi)
286 */
287static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t* msg)
288{
289 return _MAV_RETURN_float(msg, 4);
290}
291
292/**
293 * @brief Get field pitch from attitude message
294 *
295 * @return Pitch angle (rad, -pi..+pi)
296 */
297static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t* msg)
298{
299 return _MAV_RETURN_float(msg, 8);
300}
301
302/**
303 * @brief Get field yaw from attitude message
304 *
305 * @return Yaw angle (rad, -pi..+pi)
306 */
307static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t* msg)
308{
309 return _MAV_RETURN_float(msg, 12);
310}
311
312/**
313 * @brief Get field rollspeed from attitude message
314 *
315 * @return Roll angular speed (rad/s)
316 */
317static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t* msg)
318{
319 return _MAV_RETURN_float(msg, 16);
320}
321
322/**
323 * @brief Get field pitchspeed from attitude message
324 *
325 * @return Pitch angular speed (rad/s)
326 */
327static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t* msg)
328{
329 return _MAV_RETURN_float(msg, 20);
330}
331
332/**
333 * @brief Get field yawspeed from attitude message
334 *
335 * @return Yaw angular speed (rad/s)
336 */
337static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t* msg)
338{
339 return _MAV_RETURN_float(msg, 24);
340}
341
342/**
343 * @brief Decode a attitude message into a struct
344 *
345 * @param msg The message to decode
346 * @param attitude C-struct to decode the message contents into
347 */
348static inline void mavlink_msg_attitude_decode(const mavlink_message_t* msg, mavlink_attitude_t* attitude)
349{
350#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
351 attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
352 attitude->roll = mavlink_msg_attitude_get_roll(msg);
353 attitude->pitch = mavlink_msg_attitude_get_pitch(msg);
354 attitude->yaw = mavlink_msg_attitude_get_yaw(msg);
355 attitude->rollspeed = mavlink_msg_attitude_get_rollspeed(msg);
356 attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
357 attitude->yawspeed = mavlink_msg_attitude_get_yawspeed(msg);
358#else
359 uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_LEN;
360 memset(attitude, 0, MAVLINK_MSG_ID_ATTITUDE_LEN);
361 memcpy(attitude, _MAV_PAYLOAD(msg), len);
362#endif
363}
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