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

// MESSAGE SCALED_IMU PACKING

#define MAVLINK_MSG_ID_SCALED_IMU 26

typedef struct __mavlink_scaled_imu_t {
    uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
    int16_t  xacc; ///< X acceleration (mg)
    int16_t  yacc; ///< Y acceleration (mg)
    int16_t  zacc; ///< Z acceleration (mg)
    int16_t  xgyro; ///< Angular speed around X axis (millirad /sec)
    int16_t  ygyro; ///< Angular speed around Y axis (millirad /sec)
    int16_t  zgyro; ///< Angular speed around Z axis (millirad /sec)
    int16_t  xmag; ///< X Magnetic field (milli tesla)
    int16_t  ymag; ///< Y Magnetic field (milli tesla)
    int16_t  zmag; ///< Z Magnetic field (milli tesla)
} mavlink_scaled_imu_t;

#define MAVLINK_MSG_ID_SCALED_IMU_LEN 22
#define MAVLINK_MSG_ID_26_LEN         22


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


/**
 * @brief Pack a scaled_imu 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 xacc X acceleration (mg)
 * @param yacc Y acceleration (mg)
 * @param zacc Z acceleration (mg)
 * @param xgyro Angular speed around X axis (millirad /sec)
 * @param ygyro Angular speed around Y axis (millirad /sec)
 * @param zgyro Angular speed around Z axis (millirad /sec)
 * @param xmag X Magnetic field (milli tesla)
 * @param ymag Y Magnetic field (milli tesla)
 * @param zmag Z Magnetic field (milli tesla)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_scaled_imu_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
                                                   uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[22];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_int16_t(buf, 4, xacc);
    _mav_put_int16_t(buf, 6, yacc);
    _mav_put_int16_t(buf, 8, zacc);
    _mav_put_int16_t(buf, 10, xgyro);
    _mav_put_int16_t(buf, 12, ygyro);
    _mav_put_int16_t(buf, 14, zgyro);
    _mav_put_int16_t(buf, 16, xmag);
    _mav_put_int16_t(buf, 18, ymag);
    _mav_put_int16_t(buf, 20, zmag);

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
#else
    mavlink_scaled_imu_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.xacc  = xacc;
    packet.yacc  = yacc;
    packet.zacc  = zacc;
    packet.xgyro = xgyro;
    packet.ygyro = ygyro;
    packet.zgyro = zgyro;
    packet.xmag  = xmag;
    packet.ymag  = ymag;
    packet.zmag  = zmag;

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

    msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
    return mavlink_finalize_message(msg, system_id, component_id, 22, 170);
}

/**
 * @brief Pack a scaled_imu 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 xacc X acceleration (mg)
 * @param yacc Y acceleration (mg)
 * @param zacc Z acceleration (mg)
 * @param xgyro Angular speed around X axis (millirad /sec)
 * @param ygyro Angular speed around Y axis (millirad /sec)
 * @param zgyro Angular speed around Z axis (millirad /sec)
 * @param xmag X Magnetic field (milli tesla)
 * @param ymag Y Magnetic field (milli tesla)
 * @param zmag Z Magnetic field (milli tesla)
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_scaled_imu_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
                                                        mavlink_message_t *msg,
                                                        uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[22];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_int16_t(buf, 4, xacc);
    _mav_put_int16_t(buf, 6, yacc);
    _mav_put_int16_t(buf, 8, zacc);
    _mav_put_int16_t(buf, 10, xgyro);
    _mav_put_int16_t(buf, 12, ygyro);
    _mav_put_int16_t(buf, 14, zgyro);
    _mav_put_int16_t(buf, 16, xmag);
    _mav_put_int16_t(buf, 18, ymag);
    _mav_put_int16_t(buf, 20, zmag);

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 22);
#else
    mavlink_scaled_imu_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.xacc  = xacc;
    packet.yacc  = yacc;
    packet.zacc  = zacc;
    packet.xgyro = xgyro;
    packet.ygyro = ygyro;
    packet.zgyro = zgyro;
    packet.xmag  = xmag;
    packet.ymag  = ymag;
    packet.zmag  = zmag;

    memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 22);
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS

    msg->msgid = MAVLINK_MSG_ID_SCALED_IMU;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 22, 170);
}

/**
 * @brief Encode a scaled_imu 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 scaled_imu C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_scaled_imu_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_scaled_imu_t *scaled_imu)
{
    return mavlink_msg_scaled_imu_pack(system_id, component_id, msg, scaled_imu->time_boot_ms, scaled_imu->xacc, scaled_imu->yacc, scaled_imu->zacc, scaled_imu->xgyro, scaled_imu->ygyro, scaled_imu->zgyro, scaled_imu->xmag, scaled_imu->ymag, scaled_imu->zmag);
}

/**
 * @brief Send a scaled_imu message
 * @param chan MAVLink channel to send the message
 *
 * @param time_boot_ms Timestamp (milliseconds since system boot)
 * @param xacc X acceleration (mg)
 * @param yacc Y acceleration (mg)
 * @param zacc Z acceleration (mg)
 * @param xgyro Angular speed around X axis (millirad /sec)
 * @param ygyro Angular speed around Y axis (millirad /sec)
 * @param zgyro Angular speed around Z axis (millirad /sec)
 * @param xmag X Magnetic field (milli tesla)
 * @param ymag Y Magnetic field (milli tesla)
 * @param zmag Z Magnetic field (milli tesla)
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_scaled_imu_send(mavlink_channel_t chan, uint32_t time_boot_ms, int16_t xacc, int16_t yacc, int16_t zacc, int16_t xgyro, int16_t ygyro, int16_t zgyro, int16_t xmag, int16_t ymag, int16_t zmag)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[22];
    _mav_put_uint32_t(buf, 0, time_boot_ms);
    _mav_put_int16_t(buf, 4, xacc);
    _mav_put_int16_t(buf, 6, yacc);
    _mav_put_int16_t(buf, 8, zacc);
    _mav_put_int16_t(buf, 10, xgyro);
    _mav_put_int16_t(buf, 12, ygyro);
    _mav_put_int16_t(buf, 14, zgyro);
    _mav_put_int16_t(buf, 16, xmag);
    _mav_put_int16_t(buf, 18, ymag);
    _mav_put_int16_t(buf, 20, zmag);

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, buf, 22, 170);
#else
    mavlink_scaled_imu_t packet;
    packet.time_boot_ms = time_boot_ms;
    packet.xacc  = xacc;
    packet.yacc  = yacc;
    packet.zacc  = zacc;
    packet.xgyro = xgyro;
    packet.ygyro = ygyro;
    packet.zgyro = zgyro;
    packet.xmag  = xmag;
    packet.ymag  = ymag;
    packet.zmag  = zmag;

    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SCALED_IMU, (const char *)&packet, 22, 170);
#endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
}

#endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

// MESSAGE SCALED_IMU UNPACKING


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

/**
 * @brief Get field xacc from scaled_imu message
 *
 * @return X acceleration (mg)
 */
static inline int16_t mavlink_msg_scaled_imu_get_xacc(const mavlink_message_t *msg)
{
    return _MAV_RETURN_int16_t(msg, 4);
}

/**
 * @brief Get field yacc from scaled_imu message
 *
 * @return Y acceleration (mg)
 */
static inline int16_t mavlink_msg_scaled_imu_get_yacc(const mavlink_message_t *msg)
{
    return _MAV_RETURN_int16_t(msg, 6);
}

/**
 * @brief Get field zacc from scaled_imu message
 *
 * @return Z acceleration (mg)
 */
static inline int16_t mavlink_msg_scaled_imu_get_zacc(const mavlink_message_t *msg)
{
    return _MAV_RETURN_int16_t(msg, 8);
}

/**
 * @brief Get field xgyro from scaled_imu message
 *
 * @return Angular speed around X axis (millirad /sec)
 */
static inline int16_t mavlink_msg_scaled_imu_get_xgyro(const mavlink_message_t *msg)
{
    return _MAV_RETURN_int16_t(msg, 10);
}

/**
 * @brief Get field ygyro from scaled_imu message
 *
 * @return Angular speed around Y axis (millirad /sec)
 */
static inline int16_t mavlink_msg_scaled_imu_get_ygyro(const mavlink_message_t *msg)
{
    return _MAV_RETURN_int16_t(msg, 12);
}

/**
 * @brief Get field zgyro from scaled_imu message
 *
 * @return Angular speed around Z axis (millirad /sec)
 */
static inline int16_t mavlink_msg_scaled_imu_get_zgyro(const mavlink_message_t *msg)
{
    return _MAV_RETURN_int16_t(msg, 14);
}

/**
 * @brief Get field xmag from scaled_imu message
 *
 * @return X Magnetic field (milli tesla)
 */
static inline int16_t mavlink_msg_scaled_imu_get_xmag(const mavlink_message_t *msg)
{
    return _MAV_RETURN_int16_t(msg, 16);
}

/**
 * @brief Get field ymag from scaled_imu message
 *
 * @return Y Magnetic field (milli tesla)
 */
static inline int16_t mavlink_msg_scaled_imu_get_ymag(const mavlink_message_t *msg)
{
    return _MAV_RETURN_int16_t(msg, 18);
}

/**
 * @brief Get field zmag from scaled_imu message
 *
 * @return Z Magnetic field (milli tesla)
 */
static inline int16_t mavlink_msg_scaled_imu_get_zmag(const mavlink_message_t *msg)
{
    return _MAV_RETURN_int16_t(msg, 20);
}

/**
 * @brief Decode a scaled_imu message into a struct
 *
 * @param msg The message to decode
 * @param scaled_imu C-struct to decode the message contents into
 */
static inline void mavlink_msg_scaled_imu_decode(const mavlink_message_t *msg, mavlink_scaled_imu_t *scaled_imu)
{
#if MAVLINK_NEED_BYTE_SWAP
    scaled_imu->time_boot_ms = mavlink_msg_scaled_imu_get_time_boot_ms(msg);
    scaled_imu->xacc  = mavlink_msg_scaled_imu_get_xacc(msg);
    scaled_imu->yacc  = mavlink_msg_scaled_imu_get_yacc(msg);
    scaled_imu->zacc  = mavlink_msg_scaled_imu_get_zacc(msg);
    scaled_imu->xgyro = mavlink_msg_scaled_imu_get_xgyro(msg);
    scaled_imu->ygyro = mavlink_msg_scaled_imu_get_ygyro(msg);
    scaled_imu->zgyro = mavlink_msg_scaled_imu_get_zgyro(msg);
    scaled_imu->xmag  = mavlink_msg_scaled_imu_get_xmag(msg);
    scaled_imu->ymag  = mavlink_msg_scaled_imu_get_ymag(msg);
    scaled_imu->zmag  = mavlink_msg_scaled_imu_get_zmag(msg);
#else
    memcpy(scaled_imu, _MAV_PAYLOAD(msg), 22);
#endif
}