msg_hil_state_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 HIL_STATE_QUATERNION PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.
*/
public class msg_hil_state_quaternion extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_HIL_STATE_QUATERNION = 115;
    public static final int MAVLINK_MSG_LENGTH = 64;
    private static final long serialVersionUID = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;


    
    /**
    * Timestamp (microseconds since UNIX epoch or microseconds since system boot)
    */
    public long time_usec;
    
    /**
    * Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
    */
    public float attitude_quaternion[] = new float[4];
    
    /**
    * Body frame roll / phi angular speed (rad/s)
    */
    public float rollspeed;
    
    /**
    * Body frame pitch / theta angular speed (rad/s)
    */
    public float pitchspeed;
    
    /**
    * Body frame yaw / psi angular speed (rad/s)
    */
    public float yawspeed;
    
    /**
    * Latitude, expressed as * 1E7
    */
    public int lat;
    
    /**
    * Longitude, expressed as * 1E7
    */
    public int lon;
    
    /**
    * Altitude in meters, expressed as * 1000 (millimeters)
    */
    public int alt;
    
    /**
    * Ground X Speed (Latitude), expressed as m/s * 100
    */
    public short vx;
    
    /**
    * Ground Y Speed (Longitude), expressed as m/s * 100
    */
    public short vy;
    
    /**
    * Ground Z Speed (Altitude), expressed as m/s * 100
    */
    public short vz;
    
    /**
    * Indicated airspeed, expressed as m/s * 100
    */
    public int ind_airspeed;
    
    /**
    * True airspeed, expressed as m/s * 100
    */
    public int true_airspeed;
    
    /**
    * X acceleration (mg)
    */
    public short xacc;
    
    /**
    * Y acceleration (mg)
    */
    public short yacc;
    
    /**
    * Z acceleration (mg)
    */
    public short zacc;
    

    /**
    * 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_HIL_STATE_QUATERNION;
        
        packet.payload.putUnsignedLong(time_usec);
        
        
        for (int i = 0; i < attitude_quaternion.length; i++) {
            packet.payload.putFloat(attitude_quaternion[i]);
        }
                    
        
        packet.payload.putFloat(rollspeed);
        
        packet.payload.putFloat(pitchspeed);
        
        packet.payload.putFloat(yawspeed);
        
        packet.payload.putInt(lat);
        
        packet.payload.putInt(lon);
        
        packet.payload.putInt(alt);
        
        packet.payload.putShort(vx);
        
        packet.payload.putShort(vy);
        
        packet.payload.putShort(vz);
        
        packet.payload.putUnsignedShort(ind_airspeed);
        
        packet.payload.putUnsignedShort(true_airspeed);
        
        packet.payload.putShort(xacc);
        
        packet.payload.putShort(yacc);
        
        packet.payload.putShort(zacc);
        
        return packet;
    }

    /**
    * Decode a hil_state_quaternion message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_usec = payload.getUnsignedLong();
        
        
        for (int i = 0; i < this.attitude_quaternion.length; i++) {
            this.attitude_quaternion[i] = payload.getFloat();
        }
                
        
        this.rollspeed = payload.getFloat();
        
        this.pitchspeed = payload.getFloat();
        
        this.yawspeed = payload.getFloat();
        
        this.lat = payload.getInt();
        
        this.lon = payload.getInt();
        
        this.alt = payload.getInt();
        
        this.vx = payload.getShort();
        
        this.vy = payload.getShort();
        
        this.vz = payload.getShort();
        
        this.ind_airspeed = payload.getUnsignedShort();
        
        this.true_airspeed = payload.getUnsignedShort();
        
        this.xacc = payload.getShort();
        
        this.yacc = payload.getShort();
        
        this.zacc = payload.getShort();
        
    }

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

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

                                    
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_HIL_STATE_QUATERNION -"+" time_usec:"+time_usec+" attitude_quaternion:"+attitude_quaternion+" rollspeed:"+rollspeed+" pitchspeed:"+pitchspeed+" yawspeed:"+yawspeed+" lat:"+lat+" lon:"+lon+" alt:"+alt+" vx:"+vx+" vy:"+vy+" vz:"+vz+" ind_airspeed:"+ind_airspeed+" true_airspeed:"+true_airspeed+" xacc:"+xacc+" yacc:"+yacc+" zacc:"+zacc+"";
    }
}