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@@ -3,7 +3,7 @@
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#define MAVLINK_MSG_ID_VKINS_STATUS 53000
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-
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+MAVPACKED(
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typedef struct __mavlink_vkins_status_t {
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uint32_t time_boot_ms; /*< [ms] Timestamp in ms from system boot.*/
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float g0; /*< [m/s/s] vkins initial calibrated gravitation acceleration.*/
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@@ -25,11 +25,25 @@ typedef struct __mavlink_vkins_status_t {
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uint8_t solv_psat_num; /*< satelites number for position*/
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uint8_t solv_hsat_num; /*< satelites number for heading*/
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uint8_t vibe_coe; /*< */
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-} mavlink_vkins_status_t;
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+ float roll; /*< [deg] solved roll angle*/
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+ float pitch; /*< [deg] solved pitch angle*/
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+ float yaw; /*< [deg] solved yaw angle*/
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+ float ve; /*< [m/s] solved east speed*/
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+ float vn; /*< [m/s] solved north speed*/
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+ float vu; /*< [m/s] solved up speed*/
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+ float ae; /*< [m/s/s] solved east acceleration*/
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+ float an; /*< [m/s/s] solved north acceleration*/
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+ float au; /*< [m/s/s] solved up acceleration*/
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+ int32_t solv_lon; /*< [degE7] solved longitude*/
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+ int32_t solv_lat; /*< [degE7] solved lattidue*/
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+ float solv_hR; /*< [m] solved relative altitude*/
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+ uint32_t sensor_state; /*< sensor state*/
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+ uint8_t id; /*< nav id, 0 for main nav, 1 for aux nav*/
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+}) mavlink_vkins_status_t;
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-#define MAVLINK_MSG_ID_VKINS_STATUS_LEN 37
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+#define MAVLINK_MSG_ID_VKINS_STATUS_LEN 90
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#define MAVLINK_MSG_ID_VKINS_STATUS_MIN_LEN 37
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-#define MAVLINK_MSG_ID_53000_LEN 37
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+#define MAVLINK_MSG_ID_53000_LEN 90
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#define MAVLINK_MSG_ID_53000_MIN_LEN 37
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#define MAVLINK_MSG_ID_VKINS_STATUS_CRC 22
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@@ -41,7 +55,7 @@ typedef struct __mavlink_vkins_status_t {
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#define MAVLINK_MESSAGE_INFO_VKINS_STATUS { \
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53000, \
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"VKINS_STATUS", \
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- 18, \
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+ 32, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vkins_status_t, time_boot_ms) }, \
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{ "nav_status", "0x%02x", MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_vkins_status_t, nav_status) }, \
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{ "s_flag1", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_vkins_status_t, s_flag1) }, \
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@@ -60,12 +74,26 @@ typedef struct __mavlink_vkins_status_t {
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{ "solv_hsat_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_vkins_status_t, solv_hsat_num) }, \
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{ "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_vkins_status_t, temperature) }, \
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{ "vibe_coe", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_vkins_status_t, vibe_coe) }, \
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+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 37, offsetof(mavlink_vkins_status_t, roll) }, \
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+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 41, offsetof(mavlink_vkins_status_t, pitch) }, \
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+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 45, offsetof(mavlink_vkins_status_t, yaw) }, \
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+ { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 49, offsetof(mavlink_vkins_status_t, ve) }, \
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+ { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 53, offsetof(mavlink_vkins_status_t, vn) }, \
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+ { "vu", NULL, MAVLINK_TYPE_FLOAT, 0, 57, offsetof(mavlink_vkins_status_t, vu) }, \
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+ { "ae", NULL, MAVLINK_TYPE_FLOAT, 0, 61, offsetof(mavlink_vkins_status_t, ae) }, \
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+ { "an", NULL, MAVLINK_TYPE_FLOAT, 0, 65, offsetof(mavlink_vkins_status_t, an) }, \
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+ { "au", NULL, MAVLINK_TYPE_FLOAT, 0, 69, offsetof(mavlink_vkins_status_t, au) }, \
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+ { "solv_lon", NULL, MAVLINK_TYPE_INT32_T, 0, 73, offsetof(mavlink_vkins_status_t, solv_lon) }, \
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+ { "solv_lat", NULL, MAVLINK_TYPE_INT32_T, 0, 77, offsetof(mavlink_vkins_status_t, solv_lat) }, \
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+ { "solv_hR", NULL, MAVLINK_TYPE_FLOAT, 0, 81, offsetof(mavlink_vkins_status_t, solv_hR) }, \
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+ { "sensor_state", NULL, MAVLINK_TYPE_UINT32_T, 0, 85, offsetof(mavlink_vkins_status_t, sensor_state) }, \
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+ { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 89, offsetof(mavlink_vkins_status_t, id) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_VKINS_STATUS { \
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"VKINS_STATUS", \
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- 18, \
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+ 32, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vkins_status_t, time_boot_ms) }, \
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{ "nav_status", "0x%02x", MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_vkins_status_t, nav_status) }, \
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{ "s_flag1", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_vkins_status_t, s_flag1) }, \
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@@ -84,6 +112,20 @@ typedef struct __mavlink_vkins_status_t {
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{ "solv_hsat_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 35, offsetof(mavlink_vkins_status_t, solv_hsat_num) }, \
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{ "temperature", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_vkins_status_t, temperature) }, \
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{ "vibe_coe", NULL, MAVLINK_TYPE_UINT8_T, 0, 36, offsetof(mavlink_vkins_status_t, vibe_coe) }, \
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+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 37, offsetof(mavlink_vkins_status_t, roll) }, \
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+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 41, offsetof(mavlink_vkins_status_t, pitch) }, \
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+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 45, offsetof(mavlink_vkins_status_t, yaw) }, \
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+ { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 49, offsetof(mavlink_vkins_status_t, ve) }, \
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+ { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 53, offsetof(mavlink_vkins_status_t, vn) }, \
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+ { "vu", NULL, MAVLINK_TYPE_FLOAT, 0, 57, offsetof(mavlink_vkins_status_t, vu) }, \
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+ { "ae", NULL, MAVLINK_TYPE_FLOAT, 0, 61, offsetof(mavlink_vkins_status_t, ae) }, \
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+ { "an", NULL, MAVLINK_TYPE_FLOAT, 0, 65, offsetof(mavlink_vkins_status_t, an) }, \
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+ { "au", NULL, MAVLINK_TYPE_FLOAT, 0, 69, offsetof(mavlink_vkins_status_t, au) }, \
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+ { "solv_lon", NULL, MAVLINK_TYPE_INT32_T, 0, 73, offsetof(mavlink_vkins_status_t, solv_lon) }, \
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+ { "solv_lat", NULL, MAVLINK_TYPE_INT32_T, 0, 77, offsetof(mavlink_vkins_status_t, solv_lat) }, \
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+ { "solv_hR", NULL, MAVLINK_TYPE_FLOAT, 0, 81, offsetof(mavlink_vkins_status_t, solv_hR) }, \
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+ { "sensor_state", NULL, MAVLINK_TYPE_UINT32_T, 0, 85, offsetof(mavlink_vkins_status_t, sensor_state) }, \
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+ { "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 89, offsetof(mavlink_vkins_status_t, id) }, \
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} \
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}
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#endif
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@@ -114,10 +156,24 @@ typedef struct __mavlink_vkins_status_t {
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* @param solv_hsat_num satelites number for heading
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* @param temperature [degC] temperature
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* @param vibe_coe
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+ * @param roll [deg] solved roll angle
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+ * @param pitch [deg] solved pitch angle
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+ * @param yaw [deg] solved yaw angle
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+ * @param ve [m/s] solved east speed
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+ * @param vn [m/s] solved north speed
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+ * @param vu [m/s] solved up speed
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+ * @param ae [m/s/s] solved east acceleration
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+ * @param an [m/s/s] solved north acceleration
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+ * @param au [m/s/s] solved up acceleration
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+ * @param solv_lon [degE7] solved longitude
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+ * @param solv_lat [degE7] solved lattidue
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+ * @param solv_hR [m] solved relative altitude
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+ * @param sensor_state sensor state
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+ * @param id nav id, 0 for main nav, 1 for aux nav
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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_vkins_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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- uint32_t time_boot_ms, uint8_t nav_status, uint8_t s_flag1, uint8_t s_flag2, uint8_t s_flag3, uint8_t s_flag4, uint8_t s_flag5, uint8_t s_flag6, uint8_t mag_calib_stage, float g0, int32_t raw_latitude, int32_t raw_longitude, float baro_alt, float raw_gps_alt, uint8_t solv_psat_num, uint8_t solv_hsat_num, int16_t temperature, uint8_t vibe_coe)
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+ uint32_t time_boot_ms, uint8_t nav_status, uint8_t s_flag1, uint8_t s_flag2, uint8_t s_flag3, uint8_t s_flag4, uint8_t s_flag5, uint8_t s_flag6, uint8_t mag_calib_stage, float g0, int32_t raw_latitude, int32_t raw_longitude, float baro_alt, float raw_gps_alt, uint8_t solv_psat_num, uint8_t solv_hsat_num, int16_t temperature, uint8_t vibe_coe, float roll, float pitch, float yaw, float ve, float vn, float vu, float ae, float an, float au, int32_t solv_lon, int32_t solv_lat, float solv_hR, uint32_t sensor_state, uint8_t id)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_VKINS_STATUS_LEN];
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@@ -139,6 +195,20 @@ static inline uint16_t mavlink_msg_vkins_status_pack(uint8_t system_id, uint8_t
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_mav_put_uint8_t(buf, 34, solv_psat_num);
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_mav_put_uint8_t(buf, 35, solv_hsat_num);
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_mav_put_uint8_t(buf, 36, vibe_coe);
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+ _mav_put_float(buf, 37, roll);
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+ _mav_put_float(buf, 41, pitch);
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+ _mav_put_float(buf, 45, yaw);
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+ _mav_put_float(buf, 49, ve);
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+ _mav_put_float(buf, 53, vn);
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+ _mav_put_float(buf, 57, vu);
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+ _mav_put_float(buf, 61, ae);
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+ _mav_put_float(buf, 65, an);
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+ _mav_put_float(buf, 69, au);
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+ _mav_put_int32_t(buf, 73, solv_lon);
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+ _mav_put_int32_t(buf, 77, solv_lat);
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+ _mav_put_float(buf, 81, solv_hR);
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+ _mav_put_uint32_t(buf, 85, sensor_state);
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+ _mav_put_uint8_t(buf, 89, id);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VKINS_STATUS_LEN);
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#else
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@@ -161,6 +231,20 @@ static inline uint16_t mavlink_msg_vkins_status_pack(uint8_t system_id, uint8_t
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packet.solv_psat_num = solv_psat_num;
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packet.solv_hsat_num = solv_hsat_num;
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packet.vibe_coe = vibe_coe;
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+ packet.roll = roll;
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+ packet.pitch = pitch;
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+ packet.yaw = yaw;
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+ packet.ve = ve;
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+ packet.vn = vn;
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+ packet.vu = vu;
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+ packet.ae = ae;
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+ packet.an = an;
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+ packet.au = au;
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+ packet.solv_lon = solv_lon;
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+ packet.solv_lat = solv_lat;
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+ packet.solv_hR = solv_hR;
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+ packet.sensor_state = sensor_state;
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+ packet.id = id;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VKINS_STATUS_LEN);
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#endif
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@@ -196,10 +280,24 @@ static inline uint16_t mavlink_msg_vkins_status_pack(uint8_t system_id, uint8_t
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* @param solv_hsat_num satelites number for heading
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* @param temperature [degC] temperature
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* @param vibe_coe
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+ * @param roll [deg] solved roll angle
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+ * @param pitch [deg] solved pitch angle
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+ * @param yaw [deg] solved yaw angle
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+ * @param ve [m/s] solved east speed
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+ * @param vn [m/s] solved north speed
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+ * @param vu [m/s] solved up speed
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+ * @param ae [m/s/s] solved east acceleration
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+ * @param an [m/s/s] solved north acceleration
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+ * @param au [m/s/s] solved up acceleration
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+ * @param solv_lon [degE7] solved longitude
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+ * @param solv_lat [degE7] solved lattidue
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+ * @param solv_hR [m] solved relative altitude
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+ * @param sensor_state sensor state
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+ * @param id nav id, 0 for main nav, 1 for aux nav
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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_vkins_status_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
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- uint32_t time_boot_ms, uint8_t nav_status, uint8_t s_flag1, uint8_t s_flag2, uint8_t s_flag3, uint8_t s_flag4, uint8_t s_flag5, uint8_t s_flag6, uint8_t mag_calib_stage, float g0, int32_t raw_latitude, int32_t raw_longitude, float baro_alt, float raw_gps_alt, uint8_t solv_psat_num, uint8_t solv_hsat_num, int16_t temperature, uint8_t vibe_coe)
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+ uint32_t time_boot_ms, uint8_t nav_status, uint8_t s_flag1, uint8_t s_flag2, uint8_t s_flag3, uint8_t s_flag4, uint8_t s_flag5, uint8_t s_flag6, uint8_t mag_calib_stage, float g0, int32_t raw_latitude, int32_t raw_longitude, float baro_alt, float raw_gps_alt, uint8_t solv_psat_num, uint8_t solv_hsat_num, int16_t temperature, uint8_t vibe_coe, float roll, float pitch, float yaw, float ve, float vn, float vu, float ae, float an, float au, int32_t solv_lon, int32_t solv_lat, float solv_hR, uint32_t sensor_state, uint8_t id)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_VKINS_STATUS_LEN];
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@@ -221,6 +319,20 @@ static inline uint16_t mavlink_msg_vkins_status_pack_status(uint8_t system_id, u
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_mav_put_uint8_t(buf, 34, solv_psat_num);
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_mav_put_uint8_t(buf, 35, solv_hsat_num);
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_mav_put_uint8_t(buf, 36, vibe_coe);
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+ _mav_put_float(buf, 37, roll);
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+ _mav_put_float(buf, 41, pitch);
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+ _mav_put_float(buf, 45, yaw);
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+ _mav_put_float(buf, 49, ve);
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+ _mav_put_float(buf, 53, vn);
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+ _mav_put_float(buf, 57, vu);
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+ _mav_put_float(buf, 61, ae);
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+ _mav_put_float(buf, 65, an);
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+ _mav_put_float(buf, 69, au);
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+ _mav_put_int32_t(buf, 73, solv_lon);
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+ _mav_put_int32_t(buf, 77, solv_lat);
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+ _mav_put_float(buf, 81, solv_hR);
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+ _mav_put_uint32_t(buf, 85, sensor_state);
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+ _mav_put_uint8_t(buf, 89, id);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VKINS_STATUS_LEN);
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#else
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@@ -243,6 +355,20 @@ static inline uint16_t mavlink_msg_vkins_status_pack_status(uint8_t system_id, u
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packet.solv_psat_num = solv_psat_num;
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packet.solv_hsat_num = solv_hsat_num;
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packet.vibe_coe = vibe_coe;
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+ packet.roll = roll;
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+ packet.pitch = pitch;
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+ packet.yaw = yaw;
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+ packet.ve = ve;
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+ packet.vn = vn;
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+ packet.vu = vu;
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+ packet.ae = ae;
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+ packet.an = an;
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+ packet.au = au;
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+ packet.solv_lon = solv_lon;
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+ packet.solv_lat = solv_lat;
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+ packet.solv_hR = solv_hR;
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+ packet.sensor_state = sensor_state;
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+ packet.id = id;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VKINS_STATUS_LEN);
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#endif
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@@ -281,11 +407,25 @@ static inline uint16_t mavlink_msg_vkins_status_pack_status(uint8_t system_id, u
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* @param solv_hsat_num satelites number for heading
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* @param temperature [degC] temperature
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* @param vibe_coe
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+ * @param roll [deg] solved roll angle
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+ * @param pitch [deg] solved pitch angle
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+ * @param yaw [deg] solved yaw angle
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+ * @param ve [m/s] solved east speed
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+ * @param vn [m/s] solved north speed
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+ * @param vu [m/s] solved up speed
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+ * @param ae [m/s/s] solved east acceleration
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+ * @param an [m/s/s] solved north acceleration
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+ * @param au [m/s/s] solved up acceleration
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+ * @param solv_lon [degE7] solved longitude
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+ * @param solv_lat [degE7] solved lattidue
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+ * @param solv_hR [m] solved relative altitude
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+ * @param sensor_state sensor state
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+ * @param id nav id, 0 for main nav, 1 for aux nav
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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_vkins_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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- uint32_t time_boot_ms,uint8_t nav_status,uint8_t s_flag1,uint8_t s_flag2,uint8_t s_flag3,uint8_t s_flag4,uint8_t s_flag5,uint8_t s_flag6,uint8_t mag_calib_stage,float g0,int32_t raw_latitude,int32_t raw_longitude,float baro_alt,float raw_gps_alt,uint8_t solv_psat_num,uint8_t solv_hsat_num,int16_t temperature,uint8_t vibe_coe)
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+ uint32_t time_boot_ms,uint8_t nav_status,uint8_t s_flag1,uint8_t s_flag2,uint8_t s_flag3,uint8_t s_flag4,uint8_t s_flag5,uint8_t s_flag6,uint8_t mag_calib_stage,float g0,int32_t raw_latitude,int32_t raw_longitude,float baro_alt,float raw_gps_alt,uint8_t solv_psat_num,uint8_t solv_hsat_num,int16_t temperature,uint8_t vibe_coe,float roll,float pitch,float yaw,float ve,float vn,float vu,float ae,float an,float au,int32_t solv_lon,int32_t solv_lat,float solv_hR,uint32_t sensor_state,uint8_t id)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_VKINS_STATUS_LEN];
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@@ -307,6 +447,20 @@ static inline uint16_t mavlink_msg_vkins_status_pack_chan(uint8_t system_id, uin
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_mav_put_uint8_t(buf, 34, solv_psat_num);
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_mav_put_uint8_t(buf, 35, solv_hsat_num);
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_mav_put_uint8_t(buf, 36, vibe_coe);
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+ _mav_put_float(buf, 37, roll);
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+ _mav_put_float(buf, 41, pitch);
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+ _mav_put_float(buf, 45, yaw);
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+ _mav_put_float(buf, 49, ve);
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+ _mav_put_float(buf, 53, vn);
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+ _mav_put_float(buf, 57, vu);
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+ _mav_put_float(buf, 61, ae);
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+ _mav_put_float(buf, 65, an);
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+ _mav_put_float(buf, 69, au);
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+ _mav_put_int32_t(buf, 73, solv_lon);
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+ _mav_put_int32_t(buf, 77, solv_lat);
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+ _mav_put_float(buf, 81, solv_hR);
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+ _mav_put_uint32_t(buf, 85, sensor_state);
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+ _mav_put_uint8_t(buf, 89, id);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VKINS_STATUS_LEN);
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#else
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@@ -329,6 +483,20 @@ static inline uint16_t mavlink_msg_vkins_status_pack_chan(uint8_t system_id, uin
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packet.solv_psat_num = solv_psat_num;
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packet.solv_hsat_num = solv_hsat_num;
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packet.vibe_coe = vibe_coe;
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+ packet.roll = roll;
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+ packet.pitch = pitch;
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+ packet.yaw = yaw;
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+ packet.ve = ve;
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+ packet.vn = vn;
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+ packet.vu = vu;
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+ packet.ae = ae;
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+ packet.an = an;
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+ packet.au = au;
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+ packet.solv_lon = solv_lon;
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+ packet.solv_lat = solv_lat;
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+ packet.solv_hR = solv_hR;
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+ packet.sensor_state = sensor_state;
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+ packet.id = id;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VKINS_STATUS_LEN);
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#endif
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@@ -347,7 +515,7 @@ static inline uint16_t mavlink_msg_vkins_status_pack_chan(uint8_t system_id, uin
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*/
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static inline uint16_t mavlink_msg_vkins_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vkins_status_t* vkins_status)
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{
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- return mavlink_msg_vkins_status_pack(system_id, component_id, msg, vkins_status->time_boot_ms, vkins_status->nav_status, vkins_status->s_flag1, vkins_status->s_flag2, vkins_status->s_flag3, vkins_status->s_flag4, vkins_status->s_flag5, vkins_status->s_flag6, vkins_status->mag_calib_stage, vkins_status->g0, vkins_status->raw_latitude, vkins_status->raw_longitude, vkins_status->baro_alt, vkins_status->raw_gps_alt, vkins_status->solv_psat_num, vkins_status->solv_hsat_num, vkins_status->temperature, vkins_status->vibe_coe);
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+ return mavlink_msg_vkins_status_pack(system_id, component_id, msg, vkins_status->time_boot_ms, vkins_status->nav_status, vkins_status->s_flag1, vkins_status->s_flag2, vkins_status->s_flag3, vkins_status->s_flag4, vkins_status->s_flag5, vkins_status->s_flag6, vkins_status->mag_calib_stage, vkins_status->g0, vkins_status->raw_latitude, vkins_status->raw_longitude, vkins_status->baro_alt, vkins_status->raw_gps_alt, vkins_status->solv_psat_num, vkins_status->solv_hsat_num, vkins_status->temperature, vkins_status->vibe_coe, vkins_status->roll, vkins_status->pitch, vkins_status->yaw, vkins_status->ve, vkins_status->vn, vkins_status->vu, vkins_status->ae, vkins_status->an, vkins_status->au, vkins_status->solv_lon, vkins_status->solv_lat, vkins_status->solv_hR, vkins_status->sensor_state, vkins_status->id);
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}
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/**
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@@ -361,7 +529,7 @@ static inline uint16_t mavlink_msg_vkins_status_encode(uint8_t system_id, uint8_
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*/
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static inline uint16_t mavlink_msg_vkins_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vkins_status_t* vkins_status)
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{
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- return mavlink_msg_vkins_status_pack_chan(system_id, component_id, chan, msg, vkins_status->time_boot_ms, vkins_status->nav_status, vkins_status->s_flag1, vkins_status->s_flag2, vkins_status->s_flag3, vkins_status->s_flag4, vkins_status->s_flag5, vkins_status->s_flag6, vkins_status->mag_calib_stage, vkins_status->g0, vkins_status->raw_latitude, vkins_status->raw_longitude, vkins_status->baro_alt, vkins_status->raw_gps_alt, vkins_status->solv_psat_num, vkins_status->solv_hsat_num, vkins_status->temperature, vkins_status->vibe_coe);
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+ return mavlink_msg_vkins_status_pack_chan(system_id, component_id, chan, msg, vkins_status->time_boot_ms, vkins_status->nav_status, vkins_status->s_flag1, vkins_status->s_flag2, vkins_status->s_flag3, vkins_status->s_flag4, vkins_status->s_flag5, vkins_status->s_flag6, vkins_status->mag_calib_stage, vkins_status->g0, vkins_status->raw_latitude, vkins_status->raw_longitude, vkins_status->baro_alt, vkins_status->raw_gps_alt, vkins_status->solv_psat_num, vkins_status->solv_hsat_num, vkins_status->temperature, vkins_status->vibe_coe, vkins_status->roll, vkins_status->pitch, vkins_status->yaw, vkins_status->ve, vkins_status->vn, vkins_status->vu, vkins_status->ae, vkins_status->an, vkins_status->au, vkins_status->solv_lon, vkins_status->solv_lat, vkins_status->solv_hR, vkins_status->sensor_state, vkins_status->id);
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}
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/**
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@@ -375,7 +543,7 @@ static inline uint16_t mavlink_msg_vkins_status_encode_chan(uint8_t system_id, u
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*/
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static inline uint16_t mavlink_msg_vkins_status_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_vkins_status_t* vkins_status)
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{
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- return mavlink_msg_vkins_status_pack_status(system_id, component_id, _status, msg, vkins_status->time_boot_ms, vkins_status->nav_status, vkins_status->s_flag1, vkins_status->s_flag2, vkins_status->s_flag3, vkins_status->s_flag4, vkins_status->s_flag5, vkins_status->s_flag6, vkins_status->mag_calib_stage, vkins_status->g0, vkins_status->raw_latitude, vkins_status->raw_longitude, vkins_status->baro_alt, vkins_status->raw_gps_alt, vkins_status->solv_psat_num, vkins_status->solv_hsat_num, vkins_status->temperature, vkins_status->vibe_coe);
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+ return mavlink_msg_vkins_status_pack_status(system_id, component_id, _status, msg, vkins_status->time_boot_ms, vkins_status->nav_status, vkins_status->s_flag1, vkins_status->s_flag2, vkins_status->s_flag3, vkins_status->s_flag4, vkins_status->s_flag5, vkins_status->s_flag6, vkins_status->mag_calib_stage, vkins_status->g0, vkins_status->raw_latitude, vkins_status->raw_longitude, vkins_status->baro_alt, vkins_status->raw_gps_alt, vkins_status->solv_psat_num, vkins_status->solv_hsat_num, vkins_status->temperature, vkins_status->vibe_coe, vkins_status->roll, vkins_status->pitch, vkins_status->yaw, vkins_status->ve, vkins_status->vn, vkins_status->vu, vkins_status->ae, vkins_status->an, vkins_status->au, vkins_status->solv_lon, vkins_status->solv_lat, vkins_status->solv_hR, vkins_status->sensor_state, vkins_status->id);
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}
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/**
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@@ -402,10 +570,24 @@ static inline uint16_t mavlink_msg_vkins_status_encode_status(uint8_t system_id,
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* @param solv_hsat_num satelites number for heading
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* @param temperature [degC] temperature
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* @param vibe_coe
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+ * @param roll [deg] solved roll angle
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+ * @param pitch [deg] solved pitch angle
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+ * @param yaw [deg] solved yaw angle
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+ * @param ve [m/s] solved east speed
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+ * @param vn [m/s] solved north speed
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+ * @param vu [m/s] solved up speed
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+ * @param ae [m/s/s] solved east acceleration
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+ * @param an [m/s/s] solved north acceleration
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+ * @param au [m/s/s] solved up acceleration
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+ * @param solv_lon [degE7] solved longitude
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+ * @param solv_lat [degE7] solved lattidue
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+ * @param solv_hR [m] solved relative altitude
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+ * @param sensor_state sensor state
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+ * @param id nav id, 0 for main nav, 1 for aux nav
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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-static inline void mavlink_msg_vkins_status_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t nav_status, uint8_t s_flag1, uint8_t s_flag2, uint8_t s_flag3, uint8_t s_flag4, uint8_t s_flag5, uint8_t s_flag6, uint8_t mag_calib_stage, float g0, int32_t raw_latitude, int32_t raw_longitude, float baro_alt, float raw_gps_alt, uint8_t solv_psat_num, uint8_t solv_hsat_num, int16_t temperature, uint8_t vibe_coe)
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+static inline void mavlink_msg_vkins_status_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t nav_status, uint8_t s_flag1, uint8_t s_flag2, uint8_t s_flag3, uint8_t s_flag4, uint8_t s_flag5, uint8_t s_flag6, uint8_t mag_calib_stage, float g0, int32_t raw_latitude, int32_t raw_longitude, float baro_alt, float raw_gps_alt, uint8_t solv_psat_num, uint8_t solv_hsat_num, int16_t temperature, uint8_t vibe_coe, float roll, float pitch, float yaw, float ve, float vn, float vu, float ae, float an, float au, int32_t solv_lon, int32_t solv_lat, float solv_hR, uint32_t sensor_state, uint8_t id)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_VKINS_STATUS_LEN];
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@@ -427,6 +609,20 @@ static inline void mavlink_msg_vkins_status_send(mavlink_channel_t chan, uint32_
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_mav_put_uint8_t(buf, 34, solv_psat_num);
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_mav_put_uint8_t(buf, 35, solv_hsat_num);
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_mav_put_uint8_t(buf, 36, vibe_coe);
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+ _mav_put_float(buf, 37, roll);
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+ _mav_put_float(buf, 41, pitch);
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+ _mav_put_float(buf, 45, yaw);
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+ _mav_put_float(buf, 49, ve);
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+ _mav_put_float(buf, 53, vn);
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+ _mav_put_float(buf, 57, vu);
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+ _mav_put_float(buf, 61, ae);
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+ _mav_put_float(buf, 65, an);
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+ _mav_put_float(buf, 69, au);
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+ _mav_put_int32_t(buf, 73, solv_lon);
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+ _mav_put_int32_t(buf, 77, solv_lat);
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+ _mav_put_float(buf, 81, solv_hR);
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+ _mav_put_uint32_t(buf, 85, sensor_state);
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+ _mav_put_uint8_t(buf, 89, id);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VKINS_STATUS, buf, MAVLINK_MSG_ID_VKINS_STATUS_MIN_LEN, MAVLINK_MSG_ID_VKINS_STATUS_LEN, MAVLINK_MSG_ID_VKINS_STATUS_CRC);
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#else
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@@ -449,6 +645,20 @@ static inline void mavlink_msg_vkins_status_send(mavlink_channel_t chan, uint32_
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packet.solv_psat_num = solv_psat_num;
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packet.solv_hsat_num = solv_hsat_num;
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packet.vibe_coe = vibe_coe;
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+ packet.roll = roll;
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+ packet.pitch = pitch;
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+ packet.yaw = yaw;
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+ packet.ve = ve;
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+ packet.vn = vn;
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+ packet.vu = vu;
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+ packet.ae = ae;
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+ packet.an = an;
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+ packet.au = au;
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+ packet.solv_lon = solv_lon;
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+ packet.solv_lat = solv_lat;
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+ packet.solv_hR = solv_hR;
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+ packet.sensor_state = sensor_state;
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+ packet.id = id;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VKINS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_VKINS_STATUS_MIN_LEN, MAVLINK_MSG_ID_VKINS_STATUS_LEN, MAVLINK_MSG_ID_VKINS_STATUS_CRC);
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#endif
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@@ -462,7 +672,7 @@ static inline void mavlink_msg_vkins_status_send(mavlink_channel_t chan, uint32_
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static inline void mavlink_msg_vkins_status_send_struct(mavlink_channel_t chan, const mavlink_vkins_status_t* vkins_status)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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- mavlink_msg_vkins_status_send(chan, vkins_status->time_boot_ms, vkins_status->nav_status, vkins_status->s_flag1, vkins_status->s_flag2, vkins_status->s_flag3, vkins_status->s_flag4, vkins_status->s_flag5, vkins_status->s_flag6, vkins_status->mag_calib_stage, vkins_status->g0, vkins_status->raw_latitude, vkins_status->raw_longitude, vkins_status->baro_alt, vkins_status->raw_gps_alt, vkins_status->solv_psat_num, vkins_status->solv_hsat_num, vkins_status->temperature, vkins_status->vibe_coe);
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+ mavlink_msg_vkins_status_send(chan, vkins_status->time_boot_ms, vkins_status->nav_status, vkins_status->s_flag1, vkins_status->s_flag2, vkins_status->s_flag3, vkins_status->s_flag4, vkins_status->s_flag5, vkins_status->s_flag6, vkins_status->mag_calib_stage, vkins_status->g0, vkins_status->raw_latitude, vkins_status->raw_longitude, vkins_status->baro_alt, vkins_status->raw_gps_alt, vkins_status->solv_psat_num, vkins_status->solv_hsat_num, vkins_status->temperature, vkins_status->vibe_coe, vkins_status->roll, vkins_status->pitch, vkins_status->yaw, vkins_status->ve, vkins_status->vn, vkins_status->vu, vkins_status->ae, vkins_status->an, vkins_status->au, vkins_status->solv_lon, vkins_status->solv_lat, vkins_status->solv_hR, vkins_status->sensor_state, vkins_status->id);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VKINS_STATUS, (const char *)vkins_status, MAVLINK_MSG_ID_VKINS_STATUS_MIN_LEN, MAVLINK_MSG_ID_VKINS_STATUS_LEN, MAVLINK_MSG_ID_VKINS_STATUS_CRC);
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#endif
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@@ -476,7 +686,7 @@ static inline void mavlink_msg_vkins_status_send_struct(mavlink_channel_t chan,
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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-static inline void mavlink_msg_vkins_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t nav_status, uint8_t s_flag1, uint8_t s_flag2, uint8_t s_flag3, uint8_t s_flag4, uint8_t s_flag5, uint8_t s_flag6, uint8_t mag_calib_stage, float g0, int32_t raw_latitude, int32_t raw_longitude, float baro_alt, float raw_gps_alt, uint8_t solv_psat_num, uint8_t solv_hsat_num, int16_t temperature, uint8_t vibe_coe)
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+static inline void mavlink_msg_vkins_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t nav_status, uint8_t s_flag1, uint8_t s_flag2, uint8_t s_flag3, uint8_t s_flag4, uint8_t s_flag5, uint8_t s_flag6, uint8_t mag_calib_stage, float g0, int32_t raw_latitude, int32_t raw_longitude, float baro_alt, float raw_gps_alt, uint8_t solv_psat_num, uint8_t solv_hsat_num, int16_t temperature, uint8_t vibe_coe, float roll, float pitch, float yaw, float ve, float vn, float vu, float ae, float an, float au, int32_t solv_lon, int32_t solv_lat, float solv_hR, uint32_t sensor_state, uint8_t id)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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@@ -498,6 +708,20 @@ static inline void mavlink_msg_vkins_status_send_buf(mavlink_message_t *msgbuf,
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_mav_put_uint8_t(buf, 34, solv_psat_num);
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_mav_put_uint8_t(buf, 35, solv_hsat_num);
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_mav_put_uint8_t(buf, 36, vibe_coe);
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+ _mav_put_float(buf, 37, roll);
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+ _mav_put_float(buf, 41, pitch);
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+ _mav_put_float(buf, 45, yaw);
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+ _mav_put_float(buf, 49, ve);
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+ _mav_put_float(buf, 53, vn);
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+ _mav_put_float(buf, 57, vu);
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+ _mav_put_float(buf, 61, ae);
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+ _mav_put_float(buf, 65, an);
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+ _mav_put_float(buf, 69, au);
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+ _mav_put_int32_t(buf, 73, solv_lon);
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+ _mav_put_int32_t(buf, 77, solv_lat);
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+ _mav_put_float(buf, 81, solv_hR);
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+ _mav_put_uint32_t(buf, 85, sensor_state);
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+ _mav_put_uint8_t(buf, 89, id);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VKINS_STATUS, buf, MAVLINK_MSG_ID_VKINS_STATUS_MIN_LEN, MAVLINK_MSG_ID_VKINS_STATUS_LEN, MAVLINK_MSG_ID_VKINS_STATUS_CRC);
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#else
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@@ -520,6 +744,20 @@ static inline void mavlink_msg_vkins_status_send_buf(mavlink_message_t *msgbuf,
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packet->solv_psat_num = solv_psat_num;
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packet->solv_hsat_num = solv_hsat_num;
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packet->vibe_coe = vibe_coe;
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+ packet->roll = roll;
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+ packet->pitch = pitch;
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+ packet->yaw = yaw;
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+ packet->ve = ve;
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+ packet->vn = vn;
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+ packet->vu = vu;
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+ packet->ae = ae;
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+ packet->an = an;
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+ packet->au = au;
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+ packet->solv_lon = solv_lon;
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+ packet->solv_lat = solv_lat;
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+ packet->solv_hR = solv_hR;
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+ packet->sensor_state = sensor_state;
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+ packet->id = id;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VKINS_STATUS, (const char *)packet, MAVLINK_MSG_ID_VKINS_STATUS_MIN_LEN, MAVLINK_MSG_ID_VKINS_STATUS_LEN, MAVLINK_MSG_ID_VKINS_STATUS_CRC);
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#endif
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@@ -713,6 +951,146 @@ static inline uint8_t mavlink_msg_vkins_status_get_vibe_coe(const mavlink_messag
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return _MAV_RETURN_uint8_t(msg, 36);
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}
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+/**
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+ * @brief Get field roll from vkins_status message
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+ *
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+ * @return [deg] solved roll angle
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+ */
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+static inline float mavlink_msg_vkins_status_get_roll(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_float(msg, 37);
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+}
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+
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+/**
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+ * @brief Get field pitch from vkins_status message
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+ *
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+ * @return [deg] solved pitch angle
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+ */
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+static inline float mavlink_msg_vkins_status_get_pitch(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_float(msg, 41);
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+}
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+
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+/**
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+ * @brief Get field yaw from vkins_status message
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+ *
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+ * @return [deg] solved yaw angle
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+ */
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+static inline float mavlink_msg_vkins_status_get_yaw(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_float(msg, 45);
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+}
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+
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+/**
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+ * @brief Get field ve from vkins_status message
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+ *
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+ * @return [m/s] solved east speed
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+ */
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+static inline float mavlink_msg_vkins_status_get_ve(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_float(msg, 49);
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+}
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+
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+/**
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+ * @brief Get field vn from vkins_status message
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+ *
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+ * @return [m/s] solved north speed
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+ */
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+static inline float mavlink_msg_vkins_status_get_vn(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_float(msg, 53);
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+}
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+
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+/**
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+ * @brief Get field vu from vkins_status message
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+ *
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+ * @return [m/s] solved up speed
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+ */
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+static inline float mavlink_msg_vkins_status_get_vu(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_float(msg, 57);
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+}
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+
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+/**
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+ * @brief Get field ae from vkins_status message
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+ *
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+ * @return [m/s/s] solved east acceleration
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+ */
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+static inline float mavlink_msg_vkins_status_get_ae(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_float(msg, 61);
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+}
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+
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+/**
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+ * @brief Get field an from vkins_status message
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+ *
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+ * @return [m/s/s] solved north acceleration
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+ */
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+static inline float mavlink_msg_vkins_status_get_an(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_float(msg, 65);
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+}
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+
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+/**
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+ * @brief Get field au from vkins_status message
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+ *
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+ * @return [m/s/s] solved up acceleration
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+ */
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+static inline float mavlink_msg_vkins_status_get_au(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_float(msg, 69);
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+}
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+
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+/**
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+ * @brief Get field solv_lon from vkins_status message
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+ *
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+ * @return [degE7] solved longitude
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+ */
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+static inline int32_t mavlink_msg_vkins_status_get_solv_lon(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_int32_t(msg, 73);
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+}
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+
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+/**
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+ * @brief Get field solv_lat from vkins_status message
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+ *
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+ * @return [degE7] solved lattidue
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+ */
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+static inline int32_t mavlink_msg_vkins_status_get_solv_lat(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_int32_t(msg, 77);
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+}
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+
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+/**
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+ * @brief Get field solv_hR from vkins_status message
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+ *
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+ * @return [m] solved relative altitude
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+ */
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+static inline float mavlink_msg_vkins_status_get_solv_hR(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_float(msg, 81);
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+}
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+
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+/**
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+ * @brief Get field sensor_state from vkins_status message
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+ *
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+ * @return sensor state
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+ */
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+static inline uint32_t mavlink_msg_vkins_status_get_sensor_state(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_uint32_t(msg, 85);
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+}
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+
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+/**
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+ * @brief Get field id from vkins_status message
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+ *
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+ * @return nav id, 0 for main nav, 1 for aux nav
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+ */
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+static inline uint8_t mavlink_msg_vkins_status_get_id(const mavlink_message_t* msg)
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+{
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+ return _MAV_RETURN_uint8_t(msg, 89);
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+}
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+
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/**
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* @brief Decode a vkins_status message into a struct
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*
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@@ -740,6 +1118,20 @@ static inline void mavlink_msg_vkins_status_decode(const mavlink_message_t* msg,
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vkins_status->solv_psat_num = mavlink_msg_vkins_status_get_solv_psat_num(msg);
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vkins_status->solv_hsat_num = mavlink_msg_vkins_status_get_solv_hsat_num(msg);
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vkins_status->vibe_coe = mavlink_msg_vkins_status_get_vibe_coe(msg);
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+ vkins_status->roll = mavlink_msg_vkins_status_get_roll(msg);
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+ vkins_status->pitch = mavlink_msg_vkins_status_get_pitch(msg);
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+ vkins_status->yaw = mavlink_msg_vkins_status_get_yaw(msg);
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+ vkins_status->ve = mavlink_msg_vkins_status_get_ve(msg);
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+ vkins_status->vn = mavlink_msg_vkins_status_get_vn(msg);
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+ vkins_status->vu = mavlink_msg_vkins_status_get_vu(msg);
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+ vkins_status->ae = mavlink_msg_vkins_status_get_ae(msg);
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+ vkins_status->an = mavlink_msg_vkins_status_get_an(msg);
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+ vkins_status->au = mavlink_msg_vkins_status_get_au(msg);
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+ vkins_status->solv_lon = mavlink_msg_vkins_status_get_solv_lon(msg);
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+ vkins_status->solv_lat = mavlink_msg_vkins_status_get_solv_lat(msg);
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+ vkins_status->solv_hR = mavlink_msg_vkins_status_get_solv_hR(msg);
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+ vkins_status->sensor_state = mavlink_msg_vkins_status_get_sensor_state(msg);
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+ vkins_status->id = mavlink_msg_vkins_status_get_id(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_VKINS_STATUS_LEN? msg->len : MAVLINK_MSG_ID_VKINS_STATUS_LEN;
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memset(vkins_status, 0, MAVLINK_MSG_ID_VKINS_STATUS_LEN);
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