msg_attitude_quaternion.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 ATTITUDE_QUATERNION PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).
*/
public class msg_attitude_quaternion extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_ATTITUDE_QUATERNION = 31;
    public static final int MAVLINK_MSG_LENGTH = 32;
    private static final long serialVersionUID = MAVLINK_MSG_ID_ATTITUDE_QUATERNION;


    
    /**
    * Timestamp (milliseconds since system boot)
    */
    public long time_boot_ms;
    
    /**
    * Quaternion component 1, w (1 in null-rotation)
    */
    public float q1;
    
    /**
    * Quaternion component 2, x (0 in null-rotation)
    */
    public float q2;
    
    /**
    * Quaternion component 3, y (0 in null-rotation)
    */
    public float q3;
    
    /**
    * Quaternion component 4, z (0 in null-rotation)
    */
    public float q4;
    
    /**
    * Roll angular speed (rad/s)
    */
    public float rollspeed;
    
    /**
    * Pitch angular speed (rad/s)
    */
    public float pitchspeed;
    
    /**
    * Yaw angular speed (rad/s)
    */
    public float yawspeed;
    

    /**
    * 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_ATTITUDE_QUATERNION;
        
        packet.payload.putUnsignedInt(time_boot_ms);
        
        packet.payload.putFloat(q1);
        
        packet.payload.putFloat(q2);
        
        packet.payload.putFloat(q3);
        
        packet.payload.putFloat(q4);
        
        packet.payload.putFloat(rollspeed);
        
        packet.payload.putFloat(pitchspeed);
        
        packet.payload.putFloat(yawspeed);
        
        return packet;
    }

    /**
    * Decode a attitude_quaternion message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_boot_ms = payload.getUnsignedInt();
        
        this.q1 = payload.getFloat();
        
        this.q2 = payload.getFloat();
        
        this.q3 = payload.getFloat();
        
        this.q4 = payload.getFloat();
        
        this.rollspeed = payload.getFloat();
        
        this.pitchspeed = payload.getFloat();
        
        this.yawspeed = payload.getFloat();
        
    }

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

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

                    
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_ATTITUDE_QUATERNION -"+" time_boot_ms:"+time_boot_ms+" q1:"+q1+" q2:"+q2+" q3:"+q3+" q4:"+q4+" rollspeed:"+rollspeed+" pitchspeed:"+pitchspeed+" yawspeed:"+yawspeed+"";
    }
}