mavlink_msg_scaled_imu2.h

Go to the documentation of this file.

// MESSAGE SCALED_IMU2 PACKING

#define MAVLINK_MSG_ID_SCALED_IMU2 116

typedef struct __mavlink_scaled_imu2_t
{
 uint32_t time_boot_ms; 
 int16_t xacc; 
 int16_t yacc; 
 int16_t zacc; 
 int16_t xgyro; 
 int16_t ygyro; 
 int16_t zgyro; 
 int16_t xmag; 
 int16_t ymag; 
 int16_t zmag; 
} mavlink_scaled_imu2_t;

#define MAVLINK_MSG_ID_SCALED_IMU2_LEN 22
#define MAVLINK_MSG_ID_116_LEN 22

#define MAVLINK_MSG_ID_SCALED_IMU2_CRC 76
#define MAVLINK_MSG_ID_116_CRC 76



#define MAVLINK_MESSAGE_INFO_SCALED_IMU2 { \
    "SCALED_IMU2", \
    10, \
    {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_scaled_imu2_t, time_boot_ms) }, \
         { "xacc", NULL, MAVLINK_TYPE_INT16_T, 0, 4, offsetof(mavlink_scaled_imu2_t, xacc) }, \
         { "yacc", NULL, MAVLINK_TYPE_INT16_T, 0, 6, offsetof(mavlink_scaled_imu2_t, yacc) }, \
         { "zacc", NULL, MAVLINK_TYPE_INT16_T, 0, 8, offsetof(mavlink_scaled_imu2_t, zacc) }, \
         { "xgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 10, offsetof(mavlink_scaled_imu2_t, xgyro) }, \
         { "ygyro", NULL, MAVLINK_TYPE_INT16_T, 0, 12, offsetof(mavlink_scaled_imu2_t, ygyro) }, \
         { "zgyro", NULL, MAVLINK_TYPE_INT16_T, 0, 14, offsetof(mavlink_scaled_imu2_t, zgyro) }, \
         { "xmag", NULL, MAVLINK_TYPE_INT16_T, 0, 16, offsetof(mavlink_scaled_imu2_t, xmag) }, \
         { "ymag", NULL, MAVLINK_TYPE_INT16_T, 0, 18, offsetof(mavlink_scaled_imu2_t, ymag) }, \
         { "zmag", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_scaled_imu2_t, zmag) }, \
         } \
}


static inline uint16_t mavlink_msg_scaled_imu2_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
                               uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_int16_t(buf, 4, xacc);
    _mav_put_int16_t(buf, 6, yacc);
    _mav_put_int16_t(buf, 8, zacc);
    _mav_put_int16_t(buf, 10, xgyro);
    _mav_put_int16_t(buf, 12, ygyro);
    _mav_put_int16_t(buf, 14, zgyro);
    _mav_put_int16_t(buf, 16, xmag);
    _mav_put_int16_t(buf, 18, ymag);
    _mav_put_int16_t(buf, 20, zmag);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#else
    mavlink_scaled_imu2_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;
    packet.xgyro = xgyro;
    packet.ygyro = ygyro;
    packet.zgyro = zgyro;
    packet.xmag = xmag;
    packet.ymag = ymag;
    packet.zmag = zmag;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
#else
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
}

static inline uint16_t mavlink_msg_scaled_imu2_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                               mavlink_message_t* msg,
                                   uint32_t time_boot_ms,int16_t xacc,int16_t yacc,int16_t zacc,int16_t xgyro,int16_t ygyro,int16_t zgyro,int16_t xmag,int16_t ymag,int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_int16_t(buf, 4, xacc);
    _mav_put_int16_t(buf, 6, yacc);
    _mav_put_int16_t(buf, 8, zacc);
    _mav_put_int16_t(buf, 10, xgyro);
    _mav_put_int16_t(buf, 12, ygyro);
    _mav_put_int16_t(buf, 14, zgyro);
    _mav_put_int16_t(buf, 16, xmag);
    _mav_put_int16_t(buf, 18, ymag);
    _mav_put_int16_t(buf, 20, zmag);

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#else
    mavlink_scaled_imu2_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;
    packet.xgyro = xgyro;
    packet.ygyro = ygyro;
    packet.zgyro = zgyro;
    packet.xmag = xmag;
    packet.ymag = ymag;
    packet.zmag = zmag;

        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_SCALED_IMU2;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
#else
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
}

static inline uint16_t mavlink_msg_scaled_imu2_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2)
{
    return mavlink_msg_scaled_imu2_pack(system_id, component_id, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag);
}

static inline uint16_t mavlink_msg_scaled_imu2_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_scaled_imu2_t* scaled_imu2)
{
    return mavlink_msg_scaled_imu2_pack_chan(system_id, component_id, chan, msg, scaled_imu2->time_boot_ms, scaled_imu2->xacc, scaled_imu2->yacc, scaled_imu2->zacc, scaled_imu2->xgyro, scaled_imu2->ygyro, scaled_imu2->zgyro, scaled_imu2->xmag, scaled_imu2->ymag, scaled_imu2->zmag);
}

#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_scaled_imu2_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_SCALED_IMU2_LEN];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_int16_t(buf, 4, xacc);
    _mav_put_int16_t(buf, 6, yacc);
    _mav_put_int16_t(buf, 8, zacc);
    _mav_put_int16_t(buf, 10, xgyro);
    _mav_put_int16_t(buf, 12, ygyro);
    _mav_put_int16_t(buf, 14, zgyro);
    _mav_put_int16_t(buf, 16, xmag);
    _mav_put_int16_t(buf, 18, ymag);
    _mav_put_int16_t(buf, 20, zmag);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
#else
    mavlink_scaled_imu2_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.xacc = xacc;
    packet.yacc = yacc;
    packet.zacc = zacc;
    packet.xgyro = xgyro;
    packet.ygyro = ygyro;
    packet.zgyro = zgyro;
    packet.xmag = xmag;
    packet.ymag = ymag;
    packet.zmag = zmag;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)&packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
#endif
}

#if MAVLINK_MSG_ID_SCALED_IMU2_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This varient of _send() can be used to save stack space by re-using
  memory from the receive buffer.  The caller provides a
  mavlink_message_t which is the size of a full mavlink message. This
  is usually the receive buffer for the channel, and allows a reply to an
  incoming message with minimum stack space usage.
 */
static inline void mavlink_msg_scaled_imu2_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_int16_t(buf, 4, xacc);
    _mav_put_int16_t(buf, 6, yacc);
    _mav_put_int16_t(buf, 8, zacc);
    _mav_put_int16_t(buf, 10, xgyro);
    _mav_put_int16_t(buf, 12, ygyro);
    _mav_put_int16_t(buf, 14, zgyro);
    _mav_put_int16_t(buf, 16, xmag);
    _mav_put_int16_t(buf, 18, ymag);
    _mav_put_int16_t(buf, 20, zmag);

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, buf, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
#else
    mavlink_scaled_imu2_t *packet = (mavlink_scaled_imu2_t *)msgbuf;
    packet->time_boot_ms = time_boot_ms;
    packet->xacc = xacc;
    packet->yacc = yacc;
    packet->zacc = zacc;
    packet->xgyro = xgyro;
    packet->ygyro = ygyro;
    packet->zgyro = zgyro;
    packet->xmag = xmag;
    packet->ymag = ymag;
    packet->zmag = zmag;

#if MAVLINK_CRC_EXTRA
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN, MAVLINK_MSG_ID_SCALED_IMU2_CRC);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU2, (const char *)packet, MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
#endif
}
#endif

#endif

// MESSAGE SCALED_IMU2 UNPACKING


static inline uint32_t mavlink_msg_scaled_imu2_get_time_boot_ms(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint32_t(msg,  0);
}

static inline int16_t mavlink_msg_scaled_imu2_get_xacc(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  4);
}

static inline int16_t mavlink_msg_scaled_imu2_get_yacc(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  6);
}

static inline int16_t mavlink_msg_scaled_imu2_get_zacc(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  8);
}

static inline int16_t mavlink_msg_scaled_imu2_get_xgyro(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  10);
}

static inline int16_t mavlink_msg_scaled_imu2_get_ygyro(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  12);
}

static inline int16_t mavlink_msg_scaled_imu2_get_zgyro(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  14);
}

static inline int16_t mavlink_msg_scaled_imu2_get_xmag(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  16);
}

static inline int16_t mavlink_msg_scaled_imu2_get_ymag(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  18);
}

static inline int16_t mavlink_msg_scaled_imu2_get_zmag(const mavlink_message_t* msg)
{
    return _MAV_RETURN_int16_t(msg,  20);
}

static inline void mavlink_msg_scaled_imu2_decode(const mavlink_message_t* msg, mavlink_scaled_imu2_t* scaled_imu2)
{
#if MAVLINK_NEED_BYTE_SWAP
    scaled_imu2->time_boot_ms = mavlink_msg_scaled_imu2_get_time_boot_ms(msg);
    scaled_imu2->xacc = mavlink_msg_scaled_imu2_get_xacc(msg);
    scaled_imu2->yacc = mavlink_msg_scaled_imu2_get_yacc(msg);
    scaled_imu2->zacc = mavlink_msg_scaled_imu2_get_zacc(msg);
    scaled_imu2->xgyro = mavlink_msg_scaled_imu2_get_xgyro(msg);
    scaled_imu2->ygyro = mavlink_msg_scaled_imu2_get_ygyro(msg);
    scaled_imu2->zgyro = mavlink_msg_scaled_imu2_get_zgyro(msg);
    scaled_imu2->xmag = mavlink_msg_scaled_imu2_get_xmag(msg);
    scaled_imu2->ymag = mavlink_msg_scaled_imu2_get_ymag(msg);
    scaled_imu2->zmag = mavlink_msg_scaled_imu2_get_zmag(msg);
#else
    memcpy(scaled_imu2, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_SCALED_IMU2_LEN);
#endif
}