MAVLink update

libs/mavlink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_ahrs2.h

@@ -0,0 +1,287 @@
+// MESSAGE AHRS2 PACKING
+
+#define MAVLINK_MSG_ID_AHRS2 178
+
+typedef struct __mavlink_ahrs2_t
+{
+ float roll; ///< Roll angle (rad)
+ float pitch; ///< Pitch angle (rad)
+ float yaw; ///< Yaw angle (rad)
+ float altitude; ///< Altitude (MSL)
+ int32_t lat; ///< Latitude in degrees * 1E7
+ int32_t lng; ///< Longitude in degrees * 1E7
+} mavlink_ahrs2_t;
+
+#define MAVLINK_MSG_ID_AHRS2_LEN 24
+#define MAVLINK_MSG_ID_178_LEN 24
+
+#define MAVLINK_MSG_ID_AHRS2_CRC 47
+#define MAVLINK_MSG_ID_178_CRC 47
+
+
+
+#define MAVLINK_MESSAGE_INFO_AHRS2 { \
+ "AHRS2", \
+ 6, \
+ { { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs2_t, roll) }, \
+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs2_t, pitch) }, \
+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs2_t, yaw) }, \
+ { "altitude", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs2_t, altitude) }, \
+ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_ahrs2_t, lat) }, \
+ { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_ahrs2_t, lng) }, \
+ } \
+}
+
+
+/**
+ * @brief Pack a ahrs2 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 roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param altitude Altitude (MSL)
+ * @param lat Latitude in degrees * 1E7
+ * @param lng Longitude in degrees * 1E7
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ahrs2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
+ float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[MAVLINK_MSG_ID_AHRS2_LEN];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, altitude);
+ _mav_put_int32_t(buf, 16, lat);
+ _mav_put_int32_t(buf, 20, lng);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS2_LEN);
+#else
+ mavlink_ahrs2_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.altitude = altitude;
+ packet.lat = lat;
+ packet.lng = lng;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_AHRS2;
+#if MAVLINK_CRC_EXTRA
+ return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
+#else
+ return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+}
+
+/**
+ * @brief Pack a ahrs2 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 roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param altitude Altitude (MSL)
+ * @param lat Latitude in degrees * 1E7
+ * @param lng Longitude in degrees * 1E7
+ * @return length of the message in bytes (excluding serial stream start sign)
+ */
+static inline uint16_t mavlink_msg_ahrs2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
+ mavlink_message_t* msg,
+ float roll,float pitch,float yaw,float altitude,int32_t lat,int32_t lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[MAVLINK_MSG_ID_AHRS2_LEN];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, altitude);
+ _mav_put_int32_t(buf, 16, lat);
+ _mav_put_int32_t(buf, 20, lng);
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS2_LEN);
+#else
+ mavlink_ahrs2_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.altitude = altitude;
+ packet.lat = lat;
+ packet.lng = lng;
+
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+
+ msg->msgid = MAVLINK_MSG_ID_AHRS2;
+#if MAVLINK_CRC_EXTRA
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
+#else
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+}
+
+/**
+ * @brief Encode a ahrs2 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 ahrs2 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ahrs2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs2_t* ahrs2)
+{
+ return mavlink_msg_ahrs2_pack(system_id, component_id, msg, ahrs2->roll, ahrs2->pitch, ahrs2->yaw, ahrs2->altitude, ahrs2->lat, ahrs2->lng);
+}
+
+/**
+ * @brief Encode a ahrs2 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 ahrs2 C-struct to read the message contents from
+ */
+static inline uint16_t mavlink_msg_ahrs2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs2_t* ahrs2)
+{
+ return mavlink_msg_ahrs2_pack_chan(system_id, component_id, chan, msg, ahrs2->roll, ahrs2->pitch, ahrs2->yaw, ahrs2->altitude, ahrs2->lat, ahrs2->lng);
+}
+
+/**
+ * @brief Send a ahrs2 message
+ * @param chan MAVLink channel to send the message
+ *
+ * @param roll Roll angle (rad)
+ * @param pitch Pitch angle (rad)
+ * @param yaw Yaw angle (rad)
+ * @param altitude Altitude (MSL)
+ * @param lat Latitude in degrees * 1E7
+ * @param lng Longitude in degrees * 1E7
+ */
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
+
+static inline void mavlink_msg_ahrs2_send(mavlink_channel_t chan, float roll, float pitch, float yaw, float altitude, int32_t lat, int32_t lng)
+{
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
+ char buf[MAVLINK_MSG_ID_AHRS2_LEN];
+ _mav_put_float(buf, 0, roll);
+ _mav_put_float(buf, 4, pitch);
+ _mav_put_float(buf, 8, yaw);
+ _mav_put_float(buf, 12, altitude);
+ _mav_put_int32_t(buf, 16, lat);
+ _mav_put_int32_t(buf, 20, lng);
+
+#if MAVLINK_CRC_EXTRA
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
+#else
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, buf, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+#else
+ mavlink_ahrs2_t packet;
+ packet.roll = roll;
+ packet.pitch = pitch;
+ packet.yaw = yaw;
+ packet.altitude = altitude;
+ packet.lat = lat;
+ packet.lng = lng;
+
+#if MAVLINK_CRC_EXTRA
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)&packet, MAVLINK_MSG_ID_AHRS2_LEN, MAVLINK_MSG_ID_AHRS2_CRC);
+#else
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS2, (const char *)&packet, MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+#endif
+}
+
+#endif
+
+// MESSAGE AHRS2 UNPACKING
+
+
+/**
+ * @brief Get field roll from ahrs2 message
+ *
+ * @return Roll angle (rad)
+ */
+static inline float mavlink_msg_ahrs2_get_roll(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 0);
+}
+
+/**
+ * @brief Get field pitch from ahrs2 message
+ *
+ * @return Pitch angle (rad)
+ */
+static inline float mavlink_msg_ahrs2_get_pitch(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 4);
+}
+
+/**
+ * @brief Get field yaw from ahrs2 message
+ *
+ * @return Yaw angle (rad)
+ */
+static inline float mavlink_msg_ahrs2_get_yaw(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 8);
+}
+
+/**
+ * @brief Get field altitude from ahrs2 message
+ *
+ * @return Altitude (MSL)
+ */
+static inline float mavlink_msg_ahrs2_get_altitude(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_float(msg, 12);
+}
+
+/**
+ * @brief Get field lat from ahrs2 message
+ *
+ * @return Latitude in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_ahrs2_get_lat(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 16);
+}
+
+/**
+ * @brief Get field lng from ahrs2 message
+ *
+ * @return Longitude in degrees * 1E7
+ */
+static inline int32_t mavlink_msg_ahrs2_get_lng(const mavlink_message_t* msg)
+{
+ return _MAV_RETURN_int32_t(msg, 20);
+}
+
+/**
+ * @brief Decode a ahrs2 message into a struct
+ *
+ * @param msg The message to decode
+ * @param ahrs2 C-struct to decode the message contents into
+ */
+static inline void mavlink_msg_ahrs2_decode(const mavlink_message_t* msg, mavlink_ahrs2_t* ahrs2)
+{
+#if MAVLINK_NEED_BYTE_SWAP
+ ahrs2->roll = mavlink_msg_ahrs2_get_roll(msg);
+ ahrs2->pitch = mavlink_msg_ahrs2_get_pitch(msg);
+ ahrs2->yaw = mavlink_msg_ahrs2_get_yaw(msg);
+ ahrs2->altitude = mavlink_msg_ahrs2_get_altitude(msg);
+ ahrs2->lat = mavlink_msg_ahrs2_get_lat(msg);
+ ahrs2->lng = mavlink_msg_ahrs2_get_lng(msg);
+#else
+ memcpy(ahrs2, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_AHRS2_LEN);
+#endif
+}