LibrePilot/flight/libraries/mavlink/v1.0/common/mavlink_msg_attitude.h

// MESSAGE ATTITUDE PACKING

#define MAVLINK_MSG_ID_ATTITUDE 30

typedef struct __mavlink_attitude_t {
    uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
    float    roll; ///< Roll angle (rad)
    float    pitch; ///< Pitch angle (rad)
    float    yaw; ///< Yaw angle (rad)
    float    rollspeed; ///< Roll angular speed (rad/s)
    float    pitchspeed; ///< Pitch angular speed (rad/s)
    float    yawspeed; ///< Yaw angular speed (rad/s)
} mavlink_attitude_t;

#define MAVLINK_MSG_ID_ATTITUDE_LEN 28
#define MAVLINK_MSG_ID_30_LEN       28


#define MAVLINK_MESSAGE_INFO_ATTITUDE \
    { \
        "ATTITUDE", \
        7, \
        { \
            { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_attitude_t, time_boot_ms) }, \
            { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_attitude_t, roll) }, \
            { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_attitude_t, pitch) }, \
            { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_attitude_t, yaw) }, \
            { "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_attitude_t, rollspeed) }, \
            { "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_attitude_t, pitchspeed) }, \
            { "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_attitude_t, yawspeed) }, \
        } \
    }


/**
 * @brief Pack a attitude 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 time_boot_ms Timestamp (milliseconds since system boot)
 * @param roll Roll angle (rad)
 * @param pitch Pitch angle (rad)
 * @param yaw Yaw angle (rad)
 * @param rollspeed Roll angular speed (rad/s)
 * @param pitchspeed Pitch angular speed (rad/s)
 * @param yawspeed Yaw angular speed (rad/s)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_attitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
                                                 uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[28];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_float(buf, 4, roll);
    _mav_put_float(buf, 8, pitch);
    _mav_put_float(buf, 12, yaw);
    _mav_put_float(buf, 16, rollspeed);
    _mav_put_float(buf, 20, pitchspeed);
    _mav_put_float(buf, 24, yawspeed);

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
#else
    mavlink_attitude_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.roll       = roll;
    packet.pitch      = pitch;
    packet.yaw        = yaw;
    packet.rollspeed  = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed   = yawspeed;

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

    msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
    return mavlink_finalize_message(msg, system_id, component_id, 28, 39);
}

/**
 * @brief Pack a attitude 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 was sent over
 * @param msg The MAVLink message to compress the data into
 * @param time_boot_ms Timestamp (milliseconds since system boot)
 * @param roll Roll angle (rad)
 * @param pitch Pitch angle (rad)
 * @param yaw Yaw angle (rad)
 * @param rollspeed Roll angular speed (rad/s)
 * @param pitchspeed Pitch angular speed (rad/s)
 * @param yawspeed Yaw angular speed (rad/s)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_attitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                      mavlink_message_t *msg,
                                                      uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[28];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_float(buf, 4, roll);
    _mav_put_float(buf, 8, pitch);
    _mav_put_float(buf, 12, yaw);
    _mav_put_float(buf, 16, rollspeed);
    _mav_put_float(buf, 20, pitchspeed);
    _mav_put_float(buf, 24, yawspeed);

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
#else
    mavlink_attitude_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.roll       = roll;
    packet.pitch      = pitch;
    packet.yaw        = yaw;
    packet.rollspeed  = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed   = yawspeed;

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

    msg->msgid = MAVLINK_MSG_ID_ATTITUDE;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 39);
}

/**
 * @brief Encode a attitude struct into a 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 attitude C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_attitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_attitude_t *attitude)
{
    return mavlink_msg_attitude_pack(system_id, component_id, msg, attitude->time_boot_ms, attitude->roll, attitude->pitch, attitude->yaw, attitude->rollspeed, attitude->pitchspeed, attitude->yawspeed);
}

/**
 * @brief Send a attitude message
 * @param chan MAVLink channel to send the message
 *
 * @param time_boot_ms Timestamp (milliseconds since system boot)
 * @param roll Roll angle (rad)
 * @param pitch Pitch angle (rad)
 * @param yaw Yaw angle (rad)
 * @param rollspeed Roll angular speed (rad/s)
 * @param pitchspeed Pitch angular speed (rad/s)
 * @param yawspeed Yaw angular speed (rad/s)
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_attitude_send(mavlink_channel_t chan, uint32_t time_boot_ms, float roll, float pitch, float yaw, float rollspeed, float pitchspeed, float yawspeed)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[28];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_float(buf, 4, roll);
    _mav_put_float(buf, 8, pitch);
    _mav_put_float(buf, 12, yaw);
    _mav_put_float(buf, 16, rollspeed);
    _mav_put_float(buf, 20, pitchspeed);
    _mav_put_float(buf, 24, yawspeed);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, buf, 28, 39);
#else
    mavlink_attitude_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.roll       = roll;
    packet.pitch      = pitch;
    packet.yaw        = yaw;
    packet.rollspeed  = rollspeed;
    packet.pitchspeed = pitchspeed;
    packet.yawspeed   = yawspeed;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATTITUDE, (const char *)&packet, 28, 39);
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
}

#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

// MESSAGE ATTITUDE UNPACKING


/**
 * @brief Get field time_boot_ms from attitude message
 *
 * @return Timestamp (milliseconds since system boot)
 */
static inline uint32_t mavlink_msg_attitude_get_time_boot_ms(const mavlink_message_t *msg)
{
    return _MAV_RETURN_uint32_t(msg, 0);
}

/**
 * @brief Get field roll from attitude message
 *
 * @return Roll angle (rad)
 */
static inline float mavlink_msg_attitude_get_roll(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 4);
}

/**
 * @brief Get field pitch from attitude message
 *
 * @return Pitch angle (rad)
 */
static inline float mavlink_msg_attitude_get_pitch(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 8);
}

/**
 * @brief Get field yaw from attitude message
 *
 * @return Yaw angle (rad)
 */
static inline float mavlink_msg_attitude_get_yaw(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 12);
}

/**
 * @brief Get field rollspeed from attitude message
 *
 * @return Roll angular speed (rad/s)
 */
static inline float mavlink_msg_attitude_get_rollspeed(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 16);
}

/**
 * @brief Get field pitchspeed from attitude message
 *
 * @return Pitch angular speed (rad/s)
 */
static inline float mavlink_msg_attitude_get_pitchspeed(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 20);
}

/**
 * @brief Get field yawspeed from attitude message
 *
 * @return Yaw angular speed (rad/s)
 */
static inline float mavlink_msg_attitude_get_yawspeed(const mavlink_message_t *msg)
{
    return _MAV_RETURN_float(msg, 24);
}

/**
 * @brief Decode a attitude message into a struct
 *
 * @param msg The message to decode
 * @param attitude C-struct to decode the message contents into
 */
static inline void mavlink_msg_attitude_decode(const mavlink_message_t *msg, mavlink_attitude_t *attitude)
{
#if MAVLINK_NEED_BYTE_SWAP
    attitude->time_boot_ms = mavlink_msg_attitude_get_time_boot_ms(msg);
    attitude->roll       = mavlink_msg_attitude_get_roll(msg);
    attitude->pitch      = mavlink_msg_attitude_get_pitch(msg);
    attitude->yaw        = mavlink_msg_attitude_get_yaw(msg);
    attitude->rollspeed  = mavlink_msg_attitude_get_rollspeed(msg);
    attitude->pitchspeed = mavlink_msg_attitude_get_pitchspeed(msg);
    attitude->yawspeed   = mavlink_msg_attitude_get_yawspeed(msg);
#else
    memcpy(attitude, _MAV_PAYLOAD(msg), 28);
#endif
}