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mavlink_msg_attitude_quaternion.h
1#pragma once
2// MESSAGE ATTITUDE_QUATERNION PACKING
3
4#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION 31
5
6MAVPACKED(
7typedef struct __mavlink_attitude_quaternion_t {
8 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
9 float q1; /*< Quaternion component 1, w (1 in null-rotation)*/
10 float q2; /*< Quaternion component 2, x (0 in null-rotation)*/
11 float q3; /*< Quaternion component 3, y (0 in null-rotation)*/
12 float q4; /*< Quaternion component 4, z (0 in null-rotation)*/
13 float rollspeed; /*< Roll angular speed (rad/s)*/
14 float pitchspeed; /*< Pitch angular speed (rad/s)*/
15 float yawspeed; /*< Yaw angular speed (rad/s)*/
16}) mavlink_attitude_quaternion_t;
17
18#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN 32
19#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN 32
20#define MAVLINK_MSG_ID_31_LEN 32
21#define MAVLINK_MSG_ID_31_MIN_LEN 32
22
23#define MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC 246
24#define MAVLINK_MSG_ID_31_CRC 246
25
26
27
28#if MAVLINK_COMMAND_24BIT
29#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
30 31, \
31 "ATTITUDE_QUATERNION", \
32 8, \
33 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
34 { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
35 { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
36 { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
37 { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
38 { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
39 { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
40 { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
41 } \
42}
43#else
44#define MAVLINK_MESSAGE_INFO_ATTITUDE_QUATERNION { \
45 "ATTITUDE_QUATERNION", \
46 8, \
47 { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_quaternion_t, time_boot_ms) }, \
48 { "q1", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_quaternion_t, q1) }, \
49 { "q2", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_quaternion_t, q2) }, \
50 { "q3", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_quaternion_t, q3) }, \
51 { "q4", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_quaternion_t, q4) }, \
52 { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_quaternion_t, rollspeed) }, \
53 { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_quaternion_t, pitchspeed) }, \
54 { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_attitude_quaternion_t, yawspeed) }, \
55 } \
56}
57#endif
58
75static inline uint16_t mavlink_msg_attitude_quaternion_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
76 uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
77{
78#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
79 char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
80 _mav_put_uint32_t(buf, 0, time_boot_ms);
81 _mav_put_float(buf, 4, q1);
82 _mav_put_float(buf, 8, q2);
83 _mav_put_float(buf, 12, q3);
84 _mav_put_float(buf, 16, q4);
85 _mav_put_float(buf, 20, rollspeed);
86 _mav_put_float(buf, 24, pitchspeed);
87 _mav_put_float(buf, 28, yawspeed);
88
89 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
90#else
91 mavlink_attitude_quaternion_t packet;
92 packet.time_boot_ms = time_boot_ms;
93 packet.q1 = q1;
94 packet.q2 = q2;
95 packet.q3 = q3;
96 packet.q4 = q4;
97 packet.rollspeed = rollspeed;
98 packet.pitchspeed = pitchspeed;
99 packet.yawspeed = yawspeed;
100
101 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
102#endif
103
104 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
105 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
106}
107
124static inline uint16_t mavlink_msg_attitude_quaternion_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
125 mavlink_message_t* msg,
126 uint32_t time_boot_ms,float q1,float q2,float q3,float q4,float rollspeed,float pitchspeed,float yawspeed)
127{
128#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
129 char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
130 _mav_put_uint32_t(buf, 0, time_boot_ms);
131 _mav_put_float(buf, 4, q1);
132 _mav_put_float(buf, 8, q2);
133 _mav_put_float(buf, 12, q3);
134 _mav_put_float(buf, 16, q4);
135 _mav_put_float(buf, 20, rollspeed);
136 _mav_put_float(buf, 24, pitchspeed);
137 _mav_put_float(buf, 28, yawspeed);
138
139 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
140#else
141 mavlink_attitude_quaternion_t packet;
142 packet.time_boot_ms = time_boot_ms;
143 packet.q1 = q1;
144 packet.q2 = q2;
145 packet.q3 = q3;
146 packet.q4 = q4;
147 packet.rollspeed = rollspeed;
148 packet.pitchspeed = pitchspeed;
149 packet.yawspeed = yawspeed;
150
151 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
152#endif
153
154 msg->msgid = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;
155 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
156}
157
166static inline uint16_t mavlink_msg_attitude_quaternion_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
167{
168 return mavlink_msg_attitude_quaternion_pack(system_id, component_id, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
169}
170
180static inline uint16_t mavlink_msg_attitude_quaternion_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_attitude_quaternion_t* attitude_quaternion)
181{
182 return mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, chan, msg, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
183}
184
198#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
199
200static inline void mavlink_msg_attitude_quaternion_send(mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
201{
202#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
203 char buf[MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN];
204 _mav_put_uint32_t(buf, 0, time_boot_ms);
205 _mav_put_float(buf, 4, q1);
206 _mav_put_float(buf, 8, q2);
207 _mav_put_float(buf, 12, q3);
208 _mav_put_float(buf, 16, q4);
209 _mav_put_float(buf, 20, rollspeed);
210 _mav_put_float(buf, 24, pitchspeed);
211 _mav_put_float(buf, 28, yawspeed);
212
213 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
214#else
215 mavlink_attitude_quaternion_t packet;
216 packet.time_boot_ms = time_boot_ms;
217 packet.q1 = q1;
218 packet.q2 = q2;
219 packet.q3 = q3;
220 packet.q4 = q4;
221 packet.rollspeed = rollspeed;
222 packet.pitchspeed = pitchspeed;
223 packet.yawspeed = yawspeed;
224
225 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)&packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
226#endif
227}
228
234static inline void mavlink_msg_attitude_quaternion_send_struct(mavlink_channel_t chan, const mavlink_attitude_quaternion_t* attitude_quaternion)
235{
236#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
237 mavlink_msg_attitude_quaternion_send(chan, attitude_quaternion->time_boot_ms, attitude_quaternion->q1, attitude_quaternion->q2, attitude_quaternion->q3, attitude_quaternion->q4, attitude_quaternion->rollspeed, attitude_quaternion->pitchspeed, attitude_quaternion->yawspeed);
238#else
239 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)attitude_quaternion, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
240#endif
241}
242
243#if MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN <= MAVLINK_MAX_PAYLOAD_LEN
244/*
245 This varient of _send() can be used to save stack space by re-using
246 memory from the receive buffer. The caller provides a
247 mavlink_message_t which is the size of a full mavlink message. This
248 is usually the receive buffer for the channel, and allows a reply to an
249 incoming message with minimum stack space usage.
250 */
251static inline void mavlink_msg_attitude_quaternion_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float q1, float q2, float q3, float q4, float rollspeed, float pitchspeed, float yawspeed)
252{
253#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
254 char *buf = (char *)msgbuf;
255 _mav_put_uint32_t(buf, 0, time_boot_ms);
256 _mav_put_float(buf, 4, q1);
257 _mav_put_float(buf, 8, q2);
258 _mav_put_float(buf, 12, q3);
259 _mav_put_float(buf, 16, q4);
260 _mav_put_float(buf, 20, rollspeed);
261 _mav_put_float(buf, 24, pitchspeed);
262 _mav_put_float(buf, 28, yawspeed);
263
264 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, buf, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
265#else
266 mavlink_attitude_quaternion_t *packet = (mavlink_attitude_quaternion_t *)msgbuf;
267 packet->time_boot_ms = time_boot_ms;
268 packet->q1 = q1;
269 packet->q2 = q2;
270 packet->q3 = q3;
271 packet->q4 = q4;
272 packet->rollspeed = rollspeed;
273 packet->pitchspeed = pitchspeed;
274 packet->yawspeed = yawspeed;
275
276 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE_QUATERNION, (const char *)packet, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_CRC);
277#endif
278}
279#endif
280
281#endif
282
283// MESSAGE ATTITUDE_QUATERNION UNPACKING
284
285
291static inline uint32_t mavlink_msg_attitude_quaternion_get_time_boot_ms(const mavlink_message_t* msg)
292{
293 return _MAV_RETURN_uint32_t(msg, 0);
294}
295
301static inline float mavlink_msg_attitude_quaternion_get_q1(const mavlink_message_t* msg)
302{
303 return _MAV_RETURN_float(msg, 4);
304}
305
311static inline float mavlink_msg_attitude_quaternion_get_q2(const mavlink_message_t* msg)
312{
313 return _MAV_RETURN_float(msg, 8);
314}
315
321static inline float mavlink_msg_attitude_quaternion_get_q3(const mavlink_message_t* msg)
322{
323 return _MAV_RETURN_float(msg, 12);
324}
325
331static inline float mavlink_msg_attitude_quaternion_get_q4(const mavlink_message_t* msg)
332{
333 return _MAV_RETURN_float(msg, 16);
334}
335
341static inline float mavlink_msg_attitude_quaternion_get_rollspeed(const mavlink_message_t* msg)
342{
343 return _MAV_RETURN_float(msg, 20);
344}
345
351static inline float mavlink_msg_attitude_quaternion_get_pitchspeed(const mavlink_message_t* msg)
352{
353 return _MAV_RETURN_float(msg, 24);
354}
355
361static inline float mavlink_msg_attitude_quaternion_get_yawspeed(const mavlink_message_t* msg)
362{
363 return _MAV_RETURN_float(msg, 28);
364}
365
372static inline void mavlink_msg_attitude_quaternion_decode(const mavlink_message_t* msg, mavlink_attitude_quaternion_t* attitude_quaternion)
373{
374#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
375 attitude_quaternion->time_boot_ms = mavlink_msg_attitude_quaternion_get_time_boot_ms(msg);
376 attitude_quaternion->q1 = mavlink_msg_attitude_quaternion_get_q1(msg);
377 attitude_quaternion->q2 = mavlink_msg_attitude_quaternion_get_q2(msg);
378 attitude_quaternion->q3 = mavlink_msg_attitude_quaternion_get_q3(msg);
379 attitude_quaternion->q4 = mavlink_msg_attitude_quaternion_get_q4(msg);
380 attitude_quaternion->rollspeed = mavlink_msg_attitude_quaternion_get_rollspeed(msg);
381 attitude_quaternion->pitchspeed = mavlink_msg_attitude_quaternion_get_pitchspeed(msg);
382 attitude_quaternion->yawspeed = mavlink_msg_attitude_quaternion_get_yawspeed(msg);
383#else
384 uint8_t len = msg->len < MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN? msg->len : MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN;
385 memset(attitude_quaternion, 0, MAVLINK_MSG_ID_ATTITUDE_QUATERNION_LEN);
386 memcpy(attitude_quaternion, _MAV_PAYLOAD(msg), len);
387#endif
388}
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