msg_control_system_state.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 CONTROL_SYSTEM_STATE PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* The smoothed, monotonic system state used to feed the control loops of the system.
*/
public class msg_control_system_state extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE = 146;
    public static final int MAVLINK_MSG_LENGTH = 100;
    private static final long serialVersionUID = MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE;


    
    /**
    * Timestamp (micros since boot or Unix epoch)
    */
    public long time_usec;
    
    /**
    * X acceleration in body frame
    */
    public float x_acc;
    
    /**
    * Y acceleration in body frame
    */
    public float y_acc;
    
    /**
    * Z acceleration in body frame
    */
    public float z_acc;
    
    /**
    * X velocity in body frame
    */
    public float x_vel;
    
    /**
    * Y velocity in body frame
    */
    public float y_vel;
    
    /**
    * Z velocity in body frame
    */
    public float z_vel;
    
    /**
    * X position in local frame
    */
    public float x_pos;
    
    /**
    * Y position in local frame
    */
    public float y_pos;
    
    /**
    * Z position in local frame
    */
    public float z_pos;
    
    /**
    * Airspeed, set to -1 if unknown
    */
    public float airspeed;
    
    /**
    * Variance of body velocity estimate
    */
    public float vel_variance[] = new float[3];
    
    /**
    * Variance in local position
    */
    public float pos_variance[] = new float[3];
    
    /**
    * The attitude, represented as Quaternion
    */
    public float q[] = new float[4];
    
    /**
    * Angular rate in roll axis
    */
    public float roll_rate;
    
    /**
    * Angular rate in pitch axis
    */
    public float pitch_rate;
    
    /**
    * Angular rate in yaw axis
    */
    public float yaw_rate;
    

    /**
    * 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_CONTROL_SYSTEM_STATE;
        
        packet.payload.putUnsignedLong(time_usec);
        
        packet.payload.putFloat(x_acc);
        
        packet.payload.putFloat(y_acc);
        
        packet.payload.putFloat(z_acc);
        
        packet.payload.putFloat(x_vel);
        
        packet.payload.putFloat(y_vel);
        
        packet.payload.putFloat(z_vel);
        
        packet.payload.putFloat(x_pos);
        
        packet.payload.putFloat(y_pos);
        
        packet.payload.putFloat(z_pos);
        
        packet.payload.putFloat(airspeed);
        
        
        for (int i = 0; i < vel_variance.length; i++) {
            packet.payload.putFloat(vel_variance[i]);
        }
                    
        
        
        for (int i = 0; i < pos_variance.length; i++) {
            packet.payload.putFloat(pos_variance[i]);
        }
                    
        
        
        for (int i = 0; i < q.length; i++) {
            packet.payload.putFloat(q[i]);
        }
                    
        
        packet.payload.putFloat(roll_rate);
        
        packet.payload.putFloat(pitch_rate);
        
        packet.payload.putFloat(yaw_rate);
        
        return packet;
    }

    /**
    * Decode a control_system_state message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_usec = payload.getUnsignedLong();
        
        this.x_acc = payload.getFloat();
        
        this.y_acc = payload.getFloat();
        
        this.z_acc = payload.getFloat();
        
        this.x_vel = payload.getFloat();
        
        this.y_vel = payload.getFloat();
        
        this.z_vel = payload.getFloat();
        
        this.x_pos = payload.getFloat();
        
        this.y_pos = payload.getFloat();
        
        this.z_pos = payload.getFloat();
        
        this.airspeed = payload.getFloat();
        
        
        for (int i = 0; i < this.vel_variance.length; i++) {
            this.vel_variance[i] = payload.getFloat();
        }
                
        
        
        for (int i = 0; i < this.pos_variance.length; i++) {
            this.pos_variance[i] = payload.getFloat();
        }
                
        
        
        for (int i = 0; i < this.q.length; i++) {
            this.q[i] = payload.getFloat();
        }
                
        
        this.roll_rate = payload.getFloat();
        
        this.pitch_rate = payload.getFloat();
        
        this.yaw_rate = payload.getFloat();
        
    }

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

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

                                      
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_CONTROL_SYSTEM_STATE -"+" time_usec:"+time_usec+" x_acc:"+x_acc+" y_acc:"+y_acc+" z_acc:"+z_acc+" x_vel:"+x_vel+" y_vel:"+y_vel+" z_vel:"+z_vel+" x_pos:"+x_pos+" y_pos:"+y_pos+" z_pos:"+z_pos+" airspeed:"+airspeed+" vel_variance:"+vel_variance+" pos_variance:"+pos_variance+" q:"+q+" roll_rate:"+roll_rate+" pitch_rate:"+pitch_rate+" yaw_rate:"+yaw_rate+"";
    }
}