msg_ahrs.java

/* AUTO-GENERATED FILE.  DO NOT MODIFY.
 *
 * This class was automatically generated by the
 * java mavlink generator tool. It should not be modified by hand.
 */

// MESSAGE AHRS PACKING
package com.MAVLink.ardupilotmega;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* Status of DCM attitude estimator
*/
public class msg_ahrs extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_AHRS = 163;
    public static final int MAVLINK_MSG_LENGTH = 28;
    private static final long serialVersionUID = MAVLINK_MSG_ID_AHRS;


    
    /**
    * X gyro drift estimate rad/s
    */
    public float omegaIx;
    
    /**
    * Y gyro drift estimate rad/s
    */
    public float omegaIy;
    
    /**
    * Z gyro drift estimate rad/s
    */
    public float omegaIz;
    
    /**
    * average accel_weight
    */
    public float accel_weight;
    
    /**
    * average renormalisation value
    */
    public float renorm_val;
    
    /**
    * average error_roll_pitch value
    */
    public float error_rp;
    
    /**
    * average error_yaw value
    */
    public float error_yaw;
    

    /**
    * Generates the payload for a mavlink message for a message of this type
    * @return
    */
    public MAVLinkPacket pack(){
        MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
        packet.sysid = 255;
        packet.compid = 190;
        packet.msgid = MAVLINK_MSG_ID_AHRS;
        
        packet.payload.putFloat(omegaIx);
        
        packet.payload.putFloat(omegaIy);
        
        packet.payload.putFloat(omegaIz);
        
        packet.payload.putFloat(accel_weight);
        
        packet.payload.putFloat(renorm_val);
        
        packet.payload.putFloat(error_rp);
        
        packet.payload.putFloat(error_yaw);
        
        return packet;
    }

    /**
    * Decode a ahrs message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.omegaIx = payload.getFloat();
        
        this.omegaIy = payload.getFloat();
        
        this.omegaIz = payload.getFloat();
        
        this.accel_weight = payload.getFloat();
        
        this.renorm_val = payload.getFloat();
        
        this.error_rp = payload.getFloat();
        
        this.error_yaw = payload.getFloat();
        
    }

    /**
    * Constructor for a new message, just initializes the msgid
    */
    public msg_ahrs(){
        msgid = MAVLINK_MSG_ID_AHRS;
    }

    /**
    * Constructor for a new message, initializes the message with the payload
    * from a mavlink packet
    *
    */
    public msg_ahrs(MAVLinkPacket mavLinkPacket){
        this.sysid = mavLinkPacket.sysid;
        this.compid = mavLinkPacket.compid;
        this.msgid = MAVLINK_MSG_ID_AHRS;
        unpack(mavLinkPacket.payload);
    }

                  
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_AHRS -"+" omegaIx:"+omegaIx+" omegaIy:"+omegaIy+" omegaIz:"+omegaIz+" accel_weight:"+accel_weight+" renorm_val:"+renorm_val+" error_rp:"+error_rp+" error_yaw:"+error_yaw+"";
    }
}