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@@ -0,0 +1,820 @@
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+#pragma once
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+// MESSAGE FMUB_STATUS PACKING
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+
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+#define MAVLINK_MSG_ID_FMUB_STATUS 53200
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+
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+
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+typedef struct __mavlink_fmub_status_t {
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+ uint32_t timestamp; /*< [ms] timestamp from systemboot in ms.*/
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+ float roll; /*< [rad] euler roll angle.*/
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+ float pitch; /*< [rad] euler pitch angle.*/
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+ float yaw; /*< [rad] euler yaw angle.*/
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+ float vn; /*< [m/s] velocity in northward axis.*/
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+ float ve; /*< [m/s] velocity in eastward axis.*/
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+ float vd; /*< [m/s] velocity in downward axis.*/
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+ float ax; /*< [m/s/s] acceleration in x axis.*/
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+ float ay; /*< [m/s/s] acceleration in y axis.*/
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+ float az; /*< [m/s/s] acceleration in z axis.*/
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+ float gx; /*< [rad/s] angular velocity in x axis.*/
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+ float gy; /*< [rad/s] angular velocity in y axis.*/
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+ float gz; /*< [rad/s] angular velocity in z axis.*/
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+ int32_t lat; /*< [degE7] latitude.*/
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+ int32_t lon; /*< [degE7] longitude.*/
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+ float amsl; /*< [m] altitude above mean sea level.*/
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+ int32_t ins_status; /*< */
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+ int32_t ins_flag; /*< */
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+ uint16_t throttle; /*< throttle output.*/
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+ uint8_t flight_mode; /*< flight mode.*/
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+ uint8_t btake_status; /*< backup takeover status.*/
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+} mavlink_fmub_status_t;
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+
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+#define MAVLINK_MSG_ID_FMUB_STATUS_LEN 76
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+#define MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN 76
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+#define MAVLINK_MSG_ID_53200_LEN 76
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+#define MAVLINK_MSG_ID_53200_MIN_LEN 76
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+
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+#define MAVLINK_MSG_ID_FMUB_STATUS_CRC 45
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+#define MAVLINK_MSG_ID_53200_CRC 45
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+
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+
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+
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+#if MAVLINK_COMMAND_24BIT
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+#define MAVLINK_MESSAGE_INFO_FMUB_STATUS { \
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+ 53200, \
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+ "FMUB_STATUS", \
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+ 21, \
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+ { { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fmub_status_t, timestamp) }, \
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+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fmub_status_t, roll) }, \
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+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_fmub_status_t, pitch) }, \
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+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_fmub_status_t, yaw) }, \
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+ { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_fmub_status_t, vn) }, \
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+ { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_fmub_status_t, ve) }, \
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+ { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_fmub_status_t, vd) }, \
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+ { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_fmub_status_t, ax) }, \
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+ { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_fmub_status_t, ay) }, \
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+ { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_fmub_status_t, az) }, \
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+ { "gx", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_fmub_status_t, gx) }, \
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+ { "gy", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_fmub_status_t, gy) }, \
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+ { "gz", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_fmub_status_t, gz) }, \
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+ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 52, offsetof(mavlink_fmub_status_t, lat) }, \
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+ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 56, offsetof(mavlink_fmub_status_t, lon) }, \
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+ { "amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_fmub_status_t, amsl) }, \
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+ { "ins_status", NULL, MAVLINK_TYPE_INT32_T, 0, 64, offsetof(mavlink_fmub_status_t, ins_status) }, \
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+ { "ins_flag", NULL, MAVLINK_TYPE_INT32_T, 0, 68, offsetof(mavlink_fmub_status_t, ins_flag) }, \
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+ { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 72, offsetof(mavlink_fmub_status_t, throttle) }, \
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+ { "flight_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 74, offsetof(mavlink_fmub_status_t, flight_mode) }, \
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+ { "btake_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 75, offsetof(mavlink_fmub_status_t, btake_status) }, \
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+ } \
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+}
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+#else
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+#define MAVLINK_MESSAGE_INFO_FMUB_STATUS { \
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+ "FMUB_STATUS", \
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+ 21, \
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+ { { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fmub_status_t, timestamp) }, \
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+ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fmub_status_t, roll) }, \
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+ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_fmub_status_t, pitch) }, \
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+ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_fmub_status_t, yaw) }, \
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+ { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_fmub_status_t, vn) }, \
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+ { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_fmub_status_t, ve) }, \
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+ { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_fmub_status_t, vd) }, \
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+ { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_fmub_status_t, ax) }, \
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+ { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_fmub_status_t, ay) }, \
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+ { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_fmub_status_t, az) }, \
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+ { "gx", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_fmub_status_t, gx) }, \
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+ { "gy", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_fmub_status_t, gy) }, \
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+ { "gz", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_fmub_status_t, gz) }, \
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+ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 52, offsetof(mavlink_fmub_status_t, lat) }, \
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+ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 56, offsetof(mavlink_fmub_status_t, lon) }, \
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+ { "amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_fmub_status_t, amsl) }, \
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+ { "ins_status", NULL, MAVLINK_TYPE_INT32_T, 0, 64, offsetof(mavlink_fmub_status_t, ins_status) }, \
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+ { "ins_flag", NULL, MAVLINK_TYPE_INT32_T, 0, 68, offsetof(mavlink_fmub_status_t, ins_flag) }, \
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+ { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 72, offsetof(mavlink_fmub_status_t, throttle) }, \
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+ { "flight_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 74, offsetof(mavlink_fmub_status_t, flight_mode) }, \
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+ { "btake_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 75, offsetof(mavlink_fmub_status_t, btake_status) }, \
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+ } \
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+}
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+#endif
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+
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+/**
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+ * @brief Pack a fmub_status message
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+ * @param system_id ID of this system
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+ * @param component_id ID of this component (e.g. 200 for IMU)
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+ * @param msg The MAVLink message to compress the data into
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+ *
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+ * @param timestamp [ms] timestamp from systemboot in ms.
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+ * @param roll [rad] euler roll angle.
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+ * @param pitch [rad] euler pitch angle.
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+ * @param yaw [rad] euler yaw angle.
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+ * @param vn [m/s] velocity in northward axis.
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+ * @param ve [m/s] velocity in eastward axis.
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+ * @param vd [m/s] velocity in downward axis.
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+ * @param ax [m/s/s] acceleration in x axis.
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+ * @param ay [m/s/s] acceleration in y axis.
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+ * @param az [m/s/s] acceleration in z axis.
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+ * @param gx [rad/s] angular velocity in x axis.
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+ * @param gy [rad/s] angular velocity in y axis.
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+ * @param gz [rad/s] angular velocity in z axis.
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+ * @param lat [degE7] latitude.
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+ * @param lon [degE7] longitude.
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+ * @param amsl [m] altitude above mean sea level.
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+ * @param ins_status
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+ * @param ins_flag
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+ * @param throttle throttle output.
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+ * @param flight_mode flight mode.
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+ * @param btake_status backup takeover status.
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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_fmub_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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+ uint32_t timestamp, float roll, float pitch, float yaw, float vn, float ve, float vd, float ax, float ay, float az, float gx, float gy, float gz, int32_t lat, int32_t lon, float amsl, int32_t ins_status, int32_t ins_flag, uint16_t throttle, uint8_t flight_mode, uint8_t btake_status)
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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_FMUB_STATUS_LEN];
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+ _mav_put_uint32_t(buf, 0, timestamp);
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+ _mav_put_float(buf, 4, roll);
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+ _mav_put_float(buf, 8, pitch);
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+ _mav_put_float(buf, 12, yaw);
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+ _mav_put_float(buf, 16, vn);
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+ _mav_put_float(buf, 20, ve);
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+ _mav_put_float(buf, 24, vd);
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+ _mav_put_float(buf, 28, ax);
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+ _mav_put_float(buf, 32, ay);
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+ _mav_put_float(buf, 36, az);
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+ _mav_put_float(buf, 40, gx);
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+ _mav_put_float(buf, 44, gy);
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+ _mav_put_float(buf, 48, gz);
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+ _mav_put_int32_t(buf, 52, lat);
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+ _mav_put_int32_t(buf, 56, lon);
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+ _mav_put_float(buf, 60, amsl);
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+ _mav_put_int32_t(buf, 64, ins_status);
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+ _mav_put_int32_t(buf, 68, ins_flag);
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+ _mav_put_uint16_t(buf, 72, throttle);
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+ _mav_put_uint8_t(buf, 74, flight_mode);
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+ _mav_put_uint8_t(buf, 75, btake_status);
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+
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+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FMUB_STATUS_LEN);
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+#else
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+ mavlink_fmub_status_t packet;
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+ packet.timestamp = timestamp;
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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.vn = vn;
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+ packet.ve = ve;
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+ packet.vd = vd;
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+ packet.ax = ax;
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+ packet.ay = ay;
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+ packet.az = az;
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+ packet.gx = gx;
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+ packet.gy = gy;
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+ packet.gz = gz;
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+ packet.lat = lat;
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+ packet.lon = lon;
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+ packet.amsl = amsl;
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+ packet.ins_status = ins_status;
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+ packet.ins_flag = ins_flag;
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+ packet.throttle = throttle;
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+ packet.flight_mode = flight_mode;
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+ packet.btake_status = btake_status;
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+
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+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FMUB_STATUS_LEN);
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+#endif
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+
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+ msg->msgid = MAVLINK_MSG_ID_FMUB_STATUS;
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+ return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN, MAVLINK_MSG_ID_FMUB_STATUS_CRC);
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+}
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+
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+/**
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+ * @brief Pack a fmub_status message
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+ * @param system_id ID of this system
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+ * @param component_id ID of this component (e.g. 200 for IMU)
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+ * @param status MAVLink status structure
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+ * @param msg The MAVLink message to compress the data into
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+ *
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+ * @param timestamp [ms] timestamp from systemboot in ms.
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+ * @param roll [rad] euler roll angle.
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+ * @param pitch [rad] euler pitch angle.
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+ * @param yaw [rad] euler yaw angle.
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+ * @param vn [m/s] velocity in northward axis.
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+ * @param ve [m/s] velocity in eastward axis.
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+ * @param vd [m/s] velocity in downward axis.
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+ * @param ax [m/s/s] acceleration in x axis.
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+ * @param ay [m/s/s] acceleration in y axis.
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+ * @param az [m/s/s] acceleration in z axis.
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+ * @param gx [rad/s] angular velocity in x axis.
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+ * @param gy [rad/s] angular velocity in y axis.
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+ * @param gz [rad/s] angular velocity in z axis.
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+ * @param lat [degE7] latitude.
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+ * @param lon [degE7] longitude.
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+ * @param amsl [m] altitude above mean sea level.
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+ * @param ins_status
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+ * @param ins_flag
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+ * @param throttle throttle output.
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+ * @param flight_mode flight mode.
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+ * @param btake_status backup takeover status.
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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_fmub_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 timestamp, float roll, float pitch, float yaw, float vn, float ve, float vd, float ax, float ay, float az, float gx, float gy, float gz, int32_t lat, int32_t lon, float amsl, int32_t ins_status, int32_t ins_flag, uint16_t throttle, uint8_t flight_mode, uint8_t btake_status)
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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_FMUB_STATUS_LEN];
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+ _mav_put_uint32_t(buf, 0, timestamp);
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+ _mav_put_float(buf, 4, roll);
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+ _mav_put_float(buf, 8, pitch);
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+ _mav_put_float(buf, 12, yaw);
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+ _mav_put_float(buf, 16, vn);
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+ _mav_put_float(buf, 20, ve);
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+ _mav_put_float(buf, 24, vd);
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+ _mav_put_float(buf, 28, ax);
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+ _mav_put_float(buf, 32, ay);
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+ _mav_put_float(buf, 36, az);
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+ _mav_put_float(buf, 40, gx);
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+ _mav_put_float(buf, 44, gy);
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+ _mav_put_float(buf, 48, gz);
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+ _mav_put_int32_t(buf, 52, lat);
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+ _mav_put_int32_t(buf, 56, lon);
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+ _mav_put_float(buf, 60, amsl);
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+ _mav_put_int32_t(buf, 64, ins_status);
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+ _mav_put_int32_t(buf, 68, ins_flag);
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+ _mav_put_uint16_t(buf, 72, throttle);
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+ _mav_put_uint8_t(buf, 74, flight_mode);
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+ _mav_put_uint8_t(buf, 75, btake_status);
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+
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+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FMUB_STATUS_LEN);
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+#else
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+ mavlink_fmub_status_t packet;
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+ packet.timestamp = timestamp;
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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.vn = vn;
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+ packet.ve = ve;
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+ packet.vd = vd;
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+ packet.ax = ax;
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+ packet.ay = ay;
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+ packet.az = az;
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+ packet.gx = gx;
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+ packet.gy = gy;
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+ packet.gz = gz;
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+ packet.lat = lat;
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+ packet.lon = lon;
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+ packet.amsl = amsl;
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+ packet.ins_status = ins_status;
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+ packet.ins_flag = ins_flag;
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+ packet.throttle = throttle;
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+ packet.flight_mode = flight_mode;
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+ packet.btake_status = btake_status;
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+
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+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FMUB_STATUS_LEN);
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+#endif
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+
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+ msg->msgid = MAVLINK_MSG_ID_FMUB_STATUS;
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+#if MAVLINK_CRC_EXTRA
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+ return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN, MAVLINK_MSG_ID_FMUB_STATUS_CRC);
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+#else
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+ return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN);
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+#endif
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+}
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+
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+/**
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+ * @brief Pack a fmub_status message on a channel
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+ * @param system_id ID of this system
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+ * @param component_id ID of this component (e.g. 200 for IMU)
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+ * @param chan The MAVLink channel this message will be sent over
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+ * @param msg The MAVLink message to compress the data into
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+ * @param timestamp [ms] timestamp from systemboot in ms.
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|
+ * @param roll [rad] euler roll angle.
|
|
|
+ * @param pitch [rad] euler pitch angle.
|
|
|
+ * @param yaw [rad] euler yaw angle.
|
|
|
+ * @param vn [m/s] velocity in northward axis.
|
|
|
+ * @param ve [m/s] velocity in eastward axis.
|
|
|
+ * @param vd [m/s] velocity in downward axis.
|
|
|
+ * @param ax [m/s/s] acceleration in x axis.
|
|
|
+ * @param ay [m/s/s] acceleration in y axis.
|
|
|
+ * @param az [m/s/s] acceleration in z axis.
|
|
|
+ * @param gx [rad/s] angular velocity in x axis.
|
|
|
+ * @param gy [rad/s] angular velocity in y axis.
|
|
|
+ * @param gz [rad/s] angular velocity in z axis.
|
|
|
+ * @param lat [degE7] latitude.
|
|
|
+ * @param lon [degE7] longitude.
|
|
|
+ * @param amsl [m] altitude above mean sea level.
|
|
|
+ * @param ins_status
|
|
|
+ * @param ins_flag
|
|
|
+ * @param throttle throttle output.
|
|
|
+ * @param flight_mode flight mode.
|
|
|
+ * @param btake_status backup takeover status.
|
|
|
+ * @return length of the message in bytes (excluding serial stream start sign)
|
|
|
+ */
|
|
|
+static inline uint16_t mavlink_msg_fmub_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
|
|
+ mavlink_message_t* msg,
|
|
|
+ uint32_t timestamp,float roll,float pitch,float yaw,float vn,float ve,float vd,float ax,float ay,float az,float gx,float gy,float gz,int32_t lat,int32_t lon,float amsl,int32_t ins_status,int32_t ins_flag,uint16_t throttle,uint8_t flight_mode,uint8_t btake_status)
|
|
|
+{
|
|
|
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
|
+ char buf[MAVLINK_MSG_ID_FMUB_STATUS_LEN];
|
|
|
+ _mav_put_uint32_t(buf, 0, timestamp);
|
|
|
+ _mav_put_float(buf, 4, roll);
|
|
|
+ _mav_put_float(buf, 8, pitch);
|
|
|
+ _mav_put_float(buf, 12, yaw);
|
|
|
+ _mav_put_float(buf, 16, vn);
|
|
|
+ _mav_put_float(buf, 20, ve);
|
|
|
+ _mav_put_float(buf, 24, vd);
|
|
|
+ _mav_put_float(buf, 28, ax);
|
|
|
+ _mav_put_float(buf, 32, ay);
|
|
|
+ _mav_put_float(buf, 36, az);
|
|
|
+ _mav_put_float(buf, 40, gx);
|
|
|
+ _mav_put_float(buf, 44, gy);
|
|
|
+ _mav_put_float(buf, 48, gz);
|
|
|
+ _mav_put_int32_t(buf, 52, lat);
|
|
|
+ _mav_put_int32_t(buf, 56, lon);
|
|
|
+ _mav_put_float(buf, 60, amsl);
|
|
|
+ _mav_put_int32_t(buf, 64, ins_status);
|
|
|
+ _mav_put_int32_t(buf, 68, ins_flag);
|
|
|
+ _mav_put_uint16_t(buf, 72, throttle);
|
|
|
+ _mav_put_uint8_t(buf, 74, flight_mode);
|
|
|
+ _mav_put_uint8_t(buf, 75, btake_status);
|
|
|
+
|
|
|
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FMUB_STATUS_LEN);
|
|
|
+#else
|
|
|
+ mavlink_fmub_status_t packet;
|
|
|
+ packet.timestamp = timestamp;
|
|
|
+ packet.roll = roll;
|
|
|
+ packet.pitch = pitch;
|
|
|
+ packet.yaw = yaw;
|
|
|
+ packet.vn = vn;
|
|
|
+ packet.ve = ve;
|
|
|
+ packet.vd = vd;
|
|
|
+ packet.ax = ax;
|
|
|
+ packet.ay = ay;
|
|
|
+ packet.az = az;
|
|
|
+ packet.gx = gx;
|
|
|
+ packet.gy = gy;
|
|
|
+ packet.gz = gz;
|
|
|
+ packet.lat = lat;
|
|
|
+ packet.lon = lon;
|
|
|
+ packet.amsl = amsl;
|
|
|
+ packet.ins_status = ins_status;
|
|
|
+ packet.ins_flag = ins_flag;
|
|
|
+ packet.throttle = throttle;
|
|
|
+ packet.flight_mode = flight_mode;
|
|
|
+ packet.btake_status = btake_status;
|
|
|
+
|
|
|
+ memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FMUB_STATUS_LEN);
|
|
|
+#endif
|
|
|
+
|
|
|
+ msg->msgid = MAVLINK_MSG_ID_FMUB_STATUS;
|
|
|
+ return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN, MAVLINK_MSG_ID_FMUB_STATUS_CRC);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Encode a fmub_status 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 fmub_status C-struct to read the message contents from
|
|
|
+ */
|
|
|
+static inline uint16_t mavlink_msg_fmub_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_fmub_status_t* fmub_status)
|
|
|
+{
|
|
|
+ return mavlink_msg_fmub_status_pack(system_id, component_id, msg, fmub_status->timestamp, fmub_status->roll, fmub_status->pitch, fmub_status->yaw, fmub_status->vn, fmub_status->ve, fmub_status->vd, fmub_status->ax, fmub_status->ay, fmub_status->az, fmub_status->gx, fmub_status->gy, fmub_status->gz, fmub_status->lat, fmub_status->lon, fmub_status->amsl, fmub_status->ins_status, fmub_status->ins_flag, fmub_status->throttle, fmub_status->flight_mode, fmub_status->btake_status);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Encode a fmub_status 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 fmub_status C-struct to read the message contents from
|
|
|
+ */
|
|
|
+static inline uint16_t mavlink_msg_fmub_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_fmub_status_t* fmub_status)
|
|
|
+{
|
|
|
+ return mavlink_msg_fmub_status_pack_chan(system_id, component_id, chan, msg, fmub_status->timestamp, fmub_status->roll, fmub_status->pitch, fmub_status->yaw, fmub_status->vn, fmub_status->ve, fmub_status->vd, fmub_status->ax, fmub_status->ay, fmub_status->az, fmub_status->gx, fmub_status->gy, fmub_status->gz, fmub_status->lat, fmub_status->lon, fmub_status->amsl, fmub_status->ins_status, fmub_status->ins_flag, fmub_status->throttle, fmub_status->flight_mode, fmub_status->btake_status);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Encode a fmub_status struct with provided status structure
|
|
|
+ *
|
|
|
+ * @param system_id ID of this system
|
|
|
+ * @param component_id ID of this component (e.g. 200 for IMU)
|
|
|
+ * @param status MAVLink status structure
|
|
|
+ * @param msg The MAVLink message to compress the data into
|
|
|
+ * @param fmub_status C-struct to read the message contents from
|
|
|
+ */
|
|
|
+static inline uint16_t mavlink_msg_fmub_status_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_fmub_status_t* fmub_status)
|
|
|
+{
|
|
|
+ return mavlink_msg_fmub_status_pack_status(system_id, component_id, _status, msg, fmub_status->timestamp, fmub_status->roll, fmub_status->pitch, fmub_status->yaw, fmub_status->vn, fmub_status->ve, fmub_status->vd, fmub_status->ax, fmub_status->ay, fmub_status->az, fmub_status->gx, fmub_status->gy, fmub_status->gz, fmub_status->lat, fmub_status->lon, fmub_status->amsl, fmub_status->ins_status, fmub_status->ins_flag, fmub_status->throttle, fmub_status->flight_mode, fmub_status->btake_status);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Send a fmub_status message
|
|
|
+ * @param chan MAVLink channel to send the message
|
|
|
+ *
|
|
|
+ * @param timestamp [ms] timestamp from systemboot in ms.
|
|
|
+ * @param roll [rad] euler roll angle.
|
|
|
+ * @param pitch [rad] euler pitch angle.
|
|
|
+ * @param yaw [rad] euler yaw angle.
|
|
|
+ * @param vn [m/s] velocity in northward axis.
|
|
|
+ * @param ve [m/s] velocity in eastward axis.
|
|
|
+ * @param vd [m/s] velocity in downward axis.
|
|
|
+ * @param ax [m/s/s] acceleration in x axis.
|
|
|
+ * @param ay [m/s/s] acceleration in y axis.
|
|
|
+ * @param az [m/s/s] acceleration in z axis.
|
|
|
+ * @param gx [rad/s] angular velocity in x axis.
|
|
|
+ * @param gy [rad/s] angular velocity in y axis.
|
|
|
+ * @param gz [rad/s] angular velocity in z axis.
|
|
|
+ * @param lat [degE7] latitude.
|
|
|
+ * @param lon [degE7] longitude.
|
|
|
+ * @param amsl [m] altitude above mean sea level.
|
|
|
+ * @param ins_status
|
|
|
+ * @param ins_flag
|
|
|
+ * @param throttle throttle output.
|
|
|
+ * @param flight_mode flight mode.
|
|
|
+ * @param btake_status backup takeover status.
|
|
|
+ */
|
|
|
+#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
|
|
+
|
|
|
+static inline void mavlink_msg_fmub_status_send(mavlink_channel_t chan, uint32_t timestamp, float roll, float pitch, float yaw, float vn, float ve, float vd, float ax, float ay, float az, float gx, float gy, float gz, int32_t lat, int32_t lon, float amsl, int32_t ins_status, int32_t ins_flag, uint16_t throttle, uint8_t flight_mode, uint8_t btake_status)
|
|
|
+{
|
|
|
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
|
+ char buf[MAVLINK_MSG_ID_FMUB_STATUS_LEN];
|
|
|
+ _mav_put_uint32_t(buf, 0, timestamp);
|
|
|
+ _mav_put_float(buf, 4, roll);
|
|
|
+ _mav_put_float(buf, 8, pitch);
|
|
|
+ _mav_put_float(buf, 12, yaw);
|
|
|
+ _mav_put_float(buf, 16, vn);
|
|
|
+ _mav_put_float(buf, 20, ve);
|
|
|
+ _mav_put_float(buf, 24, vd);
|
|
|
+ _mav_put_float(buf, 28, ax);
|
|
|
+ _mav_put_float(buf, 32, ay);
|
|
|
+ _mav_put_float(buf, 36, az);
|
|
|
+ _mav_put_float(buf, 40, gx);
|
|
|
+ _mav_put_float(buf, 44, gy);
|
|
|
+ _mav_put_float(buf, 48, gz);
|
|
|
+ _mav_put_int32_t(buf, 52, lat);
|
|
|
+ _mav_put_int32_t(buf, 56, lon);
|
|
|
+ _mav_put_float(buf, 60, amsl);
|
|
|
+ _mav_put_int32_t(buf, 64, ins_status);
|
|
|
+ _mav_put_int32_t(buf, 68, ins_flag);
|
|
|
+ _mav_put_uint16_t(buf, 72, throttle);
|
|
|
+ _mav_put_uint8_t(buf, 74, flight_mode);
|
|
|
+ _mav_put_uint8_t(buf, 75, btake_status);
|
|
|
+
|
|
|
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FMUB_STATUS, buf, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN, MAVLINK_MSG_ID_FMUB_STATUS_CRC);
|
|
|
+#else
|
|
|
+ mavlink_fmub_status_t packet;
|
|
|
+ packet.timestamp = timestamp;
|
|
|
+ packet.roll = roll;
|
|
|
+ packet.pitch = pitch;
|
|
|
+ packet.yaw = yaw;
|
|
|
+ packet.vn = vn;
|
|
|
+ packet.ve = ve;
|
|
|
+ packet.vd = vd;
|
|
|
+ packet.ax = ax;
|
|
|
+ packet.ay = ay;
|
|
|
+ packet.az = az;
|
|
|
+ packet.gx = gx;
|
|
|
+ packet.gy = gy;
|
|
|
+ packet.gz = gz;
|
|
|
+ packet.lat = lat;
|
|
|
+ packet.lon = lon;
|
|
|
+ packet.amsl = amsl;
|
|
|
+ packet.ins_status = ins_status;
|
|
|
+ packet.ins_flag = ins_flag;
|
|
|
+ packet.throttle = throttle;
|
|
|
+ packet.flight_mode = flight_mode;
|
|
|
+ packet.btake_status = btake_status;
|
|
|
+
|
|
|
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FMUB_STATUS, (const char *)&packet, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN, MAVLINK_MSG_ID_FMUB_STATUS_CRC);
|
|
|
+#endif
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Send a fmub_status message
|
|
|
+ * @param chan MAVLink channel to send the message
|
|
|
+ * @param struct The MAVLink struct to serialize
|
|
|
+ */
|
|
|
+static inline void mavlink_msg_fmub_status_send_struct(mavlink_channel_t chan, const mavlink_fmub_status_t* fmub_status)
|
|
|
+{
|
|
|
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
|
+ mavlink_msg_fmub_status_send(chan, fmub_status->timestamp, fmub_status->roll, fmub_status->pitch, fmub_status->yaw, fmub_status->vn, fmub_status->ve, fmub_status->vd, fmub_status->ax, fmub_status->ay, fmub_status->az, fmub_status->gx, fmub_status->gy, fmub_status->gz, fmub_status->lat, fmub_status->lon, fmub_status->amsl, fmub_status->ins_status, fmub_status->ins_flag, fmub_status->throttle, fmub_status->flight_mode, fmub_status->btake_status);
|
|
|
+#else
|
|
|
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FMUB_STATUS, (const char *)fmub_status, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN, MAVLINK_MSG_ID_FMUB_STATUS_CRC);
|
|
|
+#endif
|
|
|
+}
|
|
|
+
|
|
|
+#if MAVLINK_MSG_ID_FMUB_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
|
|
+/*
|
|
|
+ This variant of _send() can be used to save stack space by reusing
|
|
|
+ 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_fmub_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t timestamp, float roll, float pitch, float yaw, float vn, float ve, float vd, float ax, float ay, float az, float gx, float gy, float gz, int32_t lat, int32_t lon, float amsl, int32_t ins_status, int32_t ins_flag, uint16_t throttle, uint8_t flight_mode, uint8_t btake_status)
|
|
|
+{
|
|
|
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
|
+ char *buf = (char *)msgbuf;
|
|
|
+ _mav_put_uint32_t(buf, 0, timestamp);
|
|
|
+ _mav_put_float(buf, 4, roll);
|
|
|
+ _mav_put_float(buf, 8, pitch);
|
|
|
+ _mav_put_float(buf, 12, yaw);
|
|
|
+ _mav_put_float(buf, 16, vn);
|
|
|
+ _mav_put_float(buf, 20, ve);
|
|
|
+ _mav_put_float(buf, 24, vd);
|
|
|
+ _mav_put_float(buf, 28, ax);
|
|
|
+ _mav_put_float(buf, 32, ay);
|
|
|
+ _mav_put_float(buf, 36, az);
|
|
|
+ _mav_put_float(buf, 40, gx);
|
|
|
+ _mav_put_float(buf, 44, gy);
|
|
|
+ _mav_put_float(buf, 48, gz);
|
|
|
+ _mav_put_int32_t(buf, 52, lat);
|
|
|
+ _mav_put_int32_t(buf, 56, lon);
|
|
|
+ _mav_put_float(buf, 60, amsl);
|
|
|
+ _mav_put_int32_t(buf, 64, ins_status);
|
|
|
+ _mav_put_int32_t(buf, 68, ins_flag);
|
|
|
+ _mav_put_uint16_t(buf, 72, throttle);
|
|
|
+ _mav_put_uint8_t(buf, 74, flight_mode);
|
|
|
+ _mav_put_uint8_t(buf, 75, btake_status);
|
|
|
+
|
|
|
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FMUB_STATUS, buf, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN, MAVLINK_MSG_ID_FMUB_STATUS_CRC);
|
|
|
+#else
|
|
|
+ mavlink_fmub_status_t *packet = (mavlink_fmub_status_t *)msgbuf;
|
|
|
+ packet->timestamp = timestamp;
|
|
|
+ packet->roll = roll;
|
|
|
+ packet->pitch = pitch;
|
|
|
+ packet->yaw = yaw;
|
|
|
+ packet->vn = vn;
|
|
|
+ packet->ve = ve;
|
|
|
+ packet->vd = vd;
|
|
|
+ packet->ax = ax;
|
|
|
+ packet->ay = ay;
|
|
|
+ packet->az = az;
|
|
|
+ packet->gx = gx;
|
|
|
+ packet->gy = gy;
|
|
|
+ packet->gz = gz;
|
|
|
+ packet->lat = lat;
|
|
|
+ packet->lon = lon;
|
|
|
+ packet->amsl = amsl;
|
|
|
+ packet->ins_status = ins_status;
|
|
|
+ packet->ins_flag = ins_flag;
|
|
|
+ packet->throttle = throttle;
|
|
|
+ packet->flight_mode = flight_mode;
|
|
|
+ packet->btake_status = btake_status;
|
|
|
+
|
|
|
+ _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FMUB_STATUS, (const char *)packet, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN, MAVLINK_MSG_ID_FMUB_STATUS_CRC);
|
|
|
+#endif
|
|
|
+}
|
|
|
+#endif
|
|
|
+
|
|
|
+#endif
|
|
|
+
|
|
|
+// MESSAGE FMUB_STATUS UNPACKING
|
|
|
+
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field timestamp from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [ms] timestamp from systemboot in ms.
|
|
|
+ */
|
|
|
+static inline uint32_t mavlink_msg_fmub_status_get_timestamp(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_uint32_t(msg, 0);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field roll from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [rad] euler roll angle.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_roll(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 4);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field pitch from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [rad] euler pitch angle.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_pitch(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 8);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field yaw from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [rad] euler yaw angle.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_yaw(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 12);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field vn from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [m/s] velocity in northward axis.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_vn(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 16);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field ve from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [m/s] velocity in eastward axis.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_ve(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 20);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field vd from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [m/s] velocity in downward axis.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_vd(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 24);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field ax from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [m/s/s] acceleration in x axis.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_ax(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 28);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field ay from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [m/s/s] acceleration in y axis.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_ay(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 32);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field az from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [m/s/s] acceleration in z axis.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_az(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 36);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field gx from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [rad/s] angular velocity in x axis.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_gx(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 40);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field gy from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [rad/s] angular velocity in y axis.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_gy(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 44);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field gz from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [rad/s] angular velocity in z axis.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_gz(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 48);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field lat from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [degE7] latitude.
|
|
|
+ */
|
|
|
+static inline int32_t mavlink_msg_fmub_status_get_lat(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_int32_t(msg, 52);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field lon from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [degE7] longitude.
|
|
|
+ */
|
|
|
+static inline int32_t mavlink_msg_fmub_status_get_lon(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_int32_t(msg, 56);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field amsl from fmub_status message
|
|
|
+ *
|
|
|
+ * @return [m] altitude above mean sea level.
|
|
|
+ */
|
|
|
+static inline float mavlink_msg_fmub_status_get_amsl(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_float(msg, 60);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field ins_status from fmub_status message
|
|
|
+ *
|
|
|
+ * @return
|
|
|
+ */
|
|
|
+static inline int32_t mavlink_msg_fmub_status_get_ins_status(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_int32_t(msg, 64);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field ins_flag from fmub_status message
|
|
|
+ *
|
|
|
+ * @return
|
|
|
+ */
|
|
|
+static inline int32_t mavlink_msg_fmub_status_get_ins_flag(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_int32_t(msg, 68);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field throttle from fmub_status message
|
|
|
+ *
|
|
|
+ * @return throttle output.
|
|
|
+ */
|
|
|
+static inline uint16_t mavlink_msg_fmub_status_get_throttle(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_uint16_t(msg, 72);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field flight_mode from fmub_status message
|
|
|
+ *
|
|
|
+ * @return flight mode.
|
|
|
+ */
|
|
|
+static inline uint8_t mavlink_msg_fmub_status_get_flight_mode(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_uint8_t(msg, 74);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Get field btake_status from fmub_status message
|
|
|
+ *
|
|
|
+ * @return backup takeover status.
|
|
|
+ */
|
|
|
+static inline uint8_t mavlink_msg_fmub_status_get_btake_status(const mavlink_message_t* msg)
|
|
|
+{
|
|
|
+ return _MAV_RETURN_uint8_t(msg, 75);
|
|
|
+}
|
|
|
+
|
|
|
+/**
|
|
|
+ * @brief Decode a fmub_status message into a struct
|
|
|
+ *
|
|
|
+ * @param msg The message to decode
|
|
|
+ * @param fmub_status C-struct to decode the message contents into
|
|
|
+ */
|
|
|
+static inline void mavlink_msg_fmub_status_decode(const mavlink_message_t* msg, mavlink_fmub_status_t* fmub_status)
|
|
|
+{
|
|
|
+#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
|
+ fmub_status->timestamp = mavlink_msg_fmub_status_get_timestamp(msg);
|
|
|
+ fmub_status->roll = mavlink_msg_fmub_status_get_roll(msg);
|
|
|
+ fmub_status->pitch = mavlink_msg_fmub_status_get_pitch(msg);
|
|
|
+ fmub_status->yaw = mavlink_msg_fmub_status_get_yaw(msg);
|
|
|
+ fmub_status->vn = mavlink_msg_fmub_status_get_vn(msg);
|
|
|
+ fmub_status->ve = mavlink_msg_fmub_status_get_ve(msg);
|
|
|
+ fmub_status->vd = mavlink_msg_fmub_status_get_vd(msg);
|
|
|
+ fmub_status->ax = mavlink_msg_fmub_status_get_ax(msg);
|
|
|
+ fmub_status->ay = mavlink_msg_fmub_status_get_ay(msg);
|
|
|
+ fmub_status->az = mavlink_msg_fmub_status_get_az(msg);
|
|
|
+ fmub_status->gx = mavlink_msg_fmub_status_get_gx(msg);
|
|
|
+ fmub_status->gy = mavlink_msg_fmub_status_get_gy(msg);
|
|
|
+ fmub_status->gz = mavlink_msg_fmub_status_get_gz(msg);
|
|
|
+ fmub_status->lat = mavlink_msg_fmub_status_get_lat(msg);
|
|
|
+ fmub_status->lon = mavlink_msg_fmub_status_get_lon(msg);
|
|
|
+ fmub_status->amsl = mavlink_msg_fmub_status_get_amsl(msg);
|
|
|
+ fmub_status->ins_status = mavlink_msg_fmub_status_get_ins_status(msg);
|
|
|
+ fmub_status->ins_flag = mavlink_msg_fmub_status_get_ins_flag(msg);
|
|
|
+ fmub_status->throttle = mavlink_msg_fmub_status_get_throttle(msg);
|
|
|
+ fmub_status->flight_mode = mavlink_msg_fmub_status_get_flight_mode(msg);
|
|
|
+ fmub_status->btake_status = mavlink_msg_fmub_status_get_btake_status(msg);
|
|
|
+#else
|
|
|
+ uint8_t len = msg->len < MAVLINK_MSG_ID_FMUB_STATUS_LEN? msg->len : MAVLINK_MSG_ID_FMUB_STATUS_LEN;
|
|
|
+ memset(fmub_status, 0, MAVLINK_MSG_ID_FMUB_STATUS_LEN);
|
|
|
+ memcpy(fmub_status, _MAV_PAYLOAD(msg), len);
|
|
|
+#endif
|
|
|
+}
|
