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添加MAVLINK协议库

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2025-09-02 10:34:06 +08:00
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commit 040ce2c62c
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363
app/drivers/sertrf/protocol/mavlinkv2/ardupilotmega/mavlink_msg_ahrs.h Normal file
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#pragma once
// MESSAGE AHRS PACKING
#define MAVLINK_MSG_ID_AHRS 163
MAVPACKED(
typedef struct __mavlink_ahrs_t {
float omegaIx; /*< [rad/s] X gyro drift estimate.*/
float omegaIy; /*< [rad/s] Y gyro drift estimate.*/
float omegaIz; /*< [rad/s] Z gyro drift estimate.*/
float accel_weight; /*< Average accel_weight.*/
float renorm_val; /*< Average renormalisation value.*/
float error_rp; /*< Average error_roll_pitch value.*/
float error_yaw; /*< Average error_yaw value.*/
}) mavlink_ahrs_t;
#define MAVLINK_MSG_ID_AHRS_LEN 28
#define MAVLINK_MSG_ID_AHRS_MIN_LEN 28
#define MAVLINK_MSG_ID_163_LEN 28
#define MAVLINK_MSG_ID_163_MIN_LEN 28
#define MAVLINK_MSG_ID_AHRS_CRC 127
#define MAVLINK_MSG_ID_163_CRC 127
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_AHRS { \
163, \
"AHRS", \
7, \
{ { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
{ "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
{ "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
{ "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
{ "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
{ "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
{ "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_AHRS { \
"AHRS", \
7, \
{ { "omegaIx", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ahrs_t, omegaIx) }, \
{ "omegaIy", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ahrs_t, omegaIy) }, \
{ "omegaIz", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ahrs_t, omegaIz) }, \
{ "accel_weight", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ahrs_t, accel_weight) }, \
{ "renorm_val", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ahrs_t, renorm_val) }, \
{ "error_rp", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_ahrs_t, error_rp) }, \
{ "error_yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_ahrs_t, error_yaw) }, \
} \
}
#endif
/**
* @brief Pack a ahrs 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 omegaIx [rad/s] X gyro drift estimate.
* @param omegaIy [rad/s] Y gyro drift estimate.
* @param omegaIz [rad/s] Z gyro drift estimate.
* @param accel_weight Average accel_weight.
* @param renorm_val Average renormalisation value.
* @param error_rp Average error_roll_pitch value.
* @param error_yaw Average error_yaw value.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ahrs_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AHRS_LEN];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AHRS;
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
}
/**
* @brief Pack a ahrs 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 omegaIx [rad/s] X gyro drift estimate.
* @param omegaIy [rad/s] Y gyro drift estimate.
* @param omegaIz [rad/s] Z gyro drift estimate.
* @param accel_weight Average accel_weight.
* @param renorm_val Average renormalisation value.
* @param error_rp Average error_roll_pitch value.
* @param error_yaw Average error_yaw value.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_ahrs_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
float omegaIx,float omegaIy,float omegaIz,float accel_weight,float renorm_val,float error_rp,float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AHRS_LEN];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_AHRS_LEN);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_AHRS_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_AHRS;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
}
/**
* @brief Encode a ahrs 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 ahrs C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ahrs_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
{
return mavlink_msg_ahrs_pack(system_id, component_id, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
}
/**
* @brief Encode a ahrs 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 ahrs C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_ahrs_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ahrs_t* ahrs)
{
return mavlink_msg_ahrs_pack_chan(system_id, component_id, chan, msg, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
}
/**
* @brief Send a ahrs message
* @param chan MAVLink channel to send the message
*
* @param omegaIx [rad/s] X gyro drift estimate.
* @param omegaIy [rad/s] Y gyro drift estimate.
* @param omegaIz [rad/s] Z gyro drift estimate.
* @param accel_weight Average accel_weight.
* @param renorm_val Average renormalisation value.
* @param error_rp Average error_roll_pitch value.
* @param error_yaw Average error_yaw value.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_ahrs_send(mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_AHRS_LEN];
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#else
mavlink_ahrs_t packet;
packet.omegaIx = omegaIx;
packet.omegaIy = omegaIy;
packet.omegaIz = omegaIz;
packet.accel_weight = accel_weight;
packet.renorm_val = renorm_val;
packet.error_rp = error_rp;
packet.error_yaw = error_yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)&packet, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#endif
}
/**
* @brief Send a ahrs message
* @param chan MAVLink channel to send the message
* @param struct The MAVLink struct to serialize
*/
static inline void mavlink_msg_ahrs_send_struct(mavlink_channel_t chan, const mavlink_ahrs_t* ahrs)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_ahrs_send(chan, ahrs->omegaIx, ahrs->omegaIy, ahrs->omegaIz, ahrs->accel_weight, ahrs->renorm_val, ahrs->error_rp, ahrs->error_yaw);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)ahrs, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#endif
}
#if MAVLINK_MSG_ID_AHRS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This varient 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_ahrs_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, float omegaIx, float omegaIy, float omegaIz, float accel_weight, float renorm_val, float error_rp, float error_yaw)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_float(buf, 0, omegaIx);
_mav_put_float(buf, 4, omegaIy);
_mav_put_float(buf, 8, omegaIz);
_mav_put_float(buf, 12, accel_weight);
_mav_put_float(buf, 16, renorm_val);
_mav_put_float(buf, 20, error_rp);
_mav_put_float(buf, 24, error_yaw);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, buf, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#else
mavlink_ahrs_t *packet = (mavlink_ahrs_t *)msgbuf;
packet->omegaIx = omegaIx;
packet->omegaIy = omegaIy;
packet->omegaIz = omegaIz;
packet->accel_weight = accel_weight;
packet->renorm_val = renorm_val;
packet->error_rp = error_rp;
packet->error_yaw = error_yaw;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_AHRS, (const char *)packet, MAVLINK_MSG_ID_AHRS_MIN_LEN, MAVLINK_MSG_ID_AHRS_LEN, MAVLINK_MSG_ID_AHRS_CRC);
#endif
}
#endif
#endif
// MESSAGE AHRS UNPACKING
/**
* @brief Get field omegaIx from ahrs message
*
* @return [rad/s] X gyro drift estimate.
*/
static inline float mavlink_msg_ahrs_get_omegaIx(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 0);
}
/**
* @brief Get field omegaIy from ahrs message
*
* @return [rad/s] Y gyro drift estimate.
*/
static inline float mavlink_msg_ahrs_get_omegaIy(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 4);
}
/**
* @brief Get field omegaIz from ahrs message
*
* @return [rad/s] Z gyro drift estimate.
*/
static inline float mavlink_msg_ahrs_get_omegaIz(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field accel_weight from ahrs message
*
* @return Average accel_weight.
*/
static inline float mavlink_msg_ahrs_get_accel_weight(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field renorm_val from ahrs message
*
* @return Average renormalisation value.
*/
static inline float mavlink_msg_ahrs_get_renorm_val(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field error_rp from ahrs message
*
* @return Average error_roll_pitch value.
*/
static inline float mavlink_msg_ahrs_get_error_rp(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 20);
}
/**
* @brief Get field error_yaw from ahrs message
*
* @return Average error_yaw value.
*/
static inline float mavlink_msg_ahrs_get_error_yaw(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 24);
}
/**
* @brief Decode a ahrs message into a struct
*
* @param msg The message to decode
* @param ahrs C-struct to decode the message contents into
*/
static inline void mavlink_msg_ahrs_decode(const mavlink_message_t* msg, mavlink_ahrs_t* ahrs)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
ahrs->omegaIx = mavlink_msg_ahrs_get_omegaIx(msg);
ahrs->omegaIy = mavlink_msg_ahrs_get_omegaIy(msg);
ahrs->omegaIz = mavlink_msg_ahrs_get_omegaIz(msg);
ahrs->accel_weight = mavlink_msg_ahrs_get_accel_weight(msg);
ahrs->renorm_val = mavlink_msg_ahrs_get_renorm_val(msg);
ahrs->error_rp = mavlink_msg_ahrs_get_error_rp(msg);
ahrs->error_yaw = mavlink_msg_ahrs_get_error_yaw(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_AHRS_LEN? msg->len : MAVLINK_MSG_ID_AHRS_LEN;
memset(ahrs, 0, MAVLINK_MSG_ID_AHRS_LEN);
memcpy(ahrs, _MAV_PAYLOAD(msg), len);
#endif
}