#pragma once // MESSAGE FMUB_STATUS PACKING #define MAVLINK_MSG_ID_FMUB_STATUS 53200 typedef struct __mavlink_fmub_status_t { uint32_t timestamp; /*< [ms] timestamp from systemboot in ms.*/ float roll; /*< [rad] euler roll angle.*/ float pitch; /*< [rad] euler pitch angle.*/ float yaw; /*< [rad] euler yaw angle.*/ float vn; /*< [m/s] velocity in northward axis.*/ float ve; /*< [m/s] velocity in eastward axis.*/ float vd; /*< [m/s] velocity in downward axis.*/ float ax; /*< [m/s/s] acceleration in x axis.*/ float ay; /*< [m/s/s] acceleration in y axis.*/ float az; /*< [m/s/s] acceleration in z axis.*/ float gx; /*< [rad/s] angular velocity in x axis.*/ float gy; /*< [rad/s] angular velocity in y axis.*/ float gz; /*< [rad/s] angular velocity in z axis.*/ int32_t lat; /*< [degE7] latitude.*/ int32_t lon; /*< [degE7] longitude.*/ float amsl; /*< [m] altitude above mean sea level.*/ int32_t ins_status; /*< */ int32_t ins_flag; /*< */ uint16_t throttle; /*< throttle output.*/ uint8_t flight_mode; /*< flight mode.*/ uint8_t btake_status; /*< backup takeover status.*/ } mavlink_fmub_status_t; #define MAVLINK_MSG_ID_FMUB_STATUS_LEN 76 #define MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN 76 #define MAVLINK_MSG_ID_53200_LEN 76 #define MAVLINK_MSG_ID_53200_MIN_LEN 76 #define MAVLINK_MSG_ID_FMUB_STATUS_CRC 45 #define MAVLINK_MSG_ID_53200_CRC 45 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_FMUB_STATUS { \ 53200, \ "FMUB_STATUS", \ 21, \ { { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fmub_status_t, timestamp) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fmub_status_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_fmub_status_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_fmub_status_t, yaw) }, \ { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_fmub_status_t, vn) }, \ { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_fmub_status_t, ve) }, \ { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_fmub_status_t, vd) }, \ { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_fmub_status_t, ax) }, \ { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_fmub_status_t, ay) }, \ { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_fmub_status_t, az) }, \ { "gx", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_fmub_status_t, gx) }, \ { "gy", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_fmub_status_t, gy) }, \ { "gz", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_fmub_status_t, gz) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 52, offsetof(mavlink_fmub_status_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 56, offsetof(mavlink_fmub_status_t, lon) }, \ { "amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_fmub_status_t, amsl) }, \ { "ins_status", NULL, MAVLINK_TYPE_INT32_T, 0, 64, offsetof(mavlink_fmub_status_t, ins_status) }, \ { "ins_flag", NULL, MAVLINK_TYPE_INT32_T, 0, 68, offsetof(mavlink_fmub_status_t, ins_flag) }, \ { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 72, offsetof(mavlink_fmub_status_t, throttle) }, \ { "flight_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 74, offsetof(mavlink_fmub_status_t, flight_mode) }, \ { "btake_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 75, offsetof(mavlink_fmub_status_t, btake_status) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_FMUB_STATUS { \ "FMUB_STATUS", \ 21, \ { { "timestamp", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_fmub_status_t, timestamp) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_fmub_status_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_fmub_status_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_fmub_status_t, yaw) }, \ { "vn", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_fmub_status_t, vn) }, \ { "ve", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_fmub_status_t, ve) }, \ { "vd", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_fmub_status_t, vd) }, \ { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_fmub_status_t, ax) }, \ { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_fmub_status_t, ay) }, \ { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_fmub_status_t, az) }, \ { "gx", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_fmub_status_t, gx) }, \ { "gy", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_fmub_status_t, gy) }, \ { "gz", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_fmub_status_t, gz) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 52, offsetof(mavlink_fmub_status_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 56, offsetof(mavlink_fmub_status_t, lon) }, \ { "amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_fmub_status_t, amsl) }, \ { "ins_status", NULL, MAVLINK_TYPE_INT32_T, 0, 64, offsetof(mavlink_fmub_status_t, ins_status) }, \ { "ins_flag", NULL, MAVLINK_TYPE_INT32_T, 0, 68, offsetof(mavlink_fmub_status_t, ins_flag) }, \ { "throttle", NULL, MAVLINK_TYPE_UINT16_T, 0, 72, offsetof(mavlink_fmub_status_t, throttle) }, \ { "flight_mode", NULL, MAVLINK_TYPE_UINT8_T, 0, 74, offsetof(mavlink_fmub_status_t, flight_mode) }, \ { "btake_status", NULL, MAVLINK_TYPE_UINT8_T, 0, 75, offsetof(mavlink_fmub_status_t, btake_status) }, \ } \ } #endif /** * @brief Pack a fmub_status message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param 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. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_fmub_status_pack(uint8_t system_id, uint8_t component_id, 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(msg, system_id, component_id, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN, MAVLINK_MSG_ID_FMUB_STATUS_CRC); } /** * @brief Pack a fmub_status message * @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 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. * @return length of the message in bytes (excluding serial stream start sign) */ 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, 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; #if MAVLINK_CRC_EXTRA 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); #else return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_FMUB_STATUS_MIN_LEN, MAVLINK_MSG_ID_FMUB_STATUS_LEN); #endif } /** * @brief Pack a fmub_status message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param 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. * @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 re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_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 }