msg_raw_imu.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 RAW_IMU PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* The RAW IMU readings for the usual 9DOF sensor setup. This message should always contain the true raw values without any scaling to allow data capture and system debugging.
*/
public class msg_raw_imu extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_RAW_IMU = 27;
    public static final int MAVLINK_MSG_LENGTH = 26;
    private static final long serialVersionUID = MAVLINK_MSG_ID_RAW_IMU;


    
    /**
    * Timestamp (microseconds since UNIX epoch or microseconds since system boot)
    */
    public long time_usec;
    
    /**
    * X acceleration (raw)
    */
    public short xacc;
    
    /**
    * Y acceleration (raw)
    */
    public short yacc;
    
    /**
    * Z acceleration (raw)
    */
    public short zacc;
    
    /**
    * Angular speed around X axis (raw)
    */
    public short xgyro;
    
    /**
    * Angular speed around Y axis (raw)
    */
    public short ygyro;
    
    /**
    * Angular speed around Z axis (raw)
    */
    public short zgyro;
    
    /**
    * X Magnetic field (raw)
    */
    public short xmag;
    
    /**
    * Y Magnetic field (raw)
    */
    public short ymag;
    
    /**
    * Z Magnetic field (raw)
    */
    public short zmag;
    

    /**
    * 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_RAW_IMU;
        
        packet.payload.putUnsignedLong(time_usec);
        
        packet.payload.putShort(xacc);
        
        packet.payload.putShort(yacc);
        
        packet.payload.putShort(zacc);
        
        packet.payload.putShort(xgyro);
        
        packet.payload.putShort(ygyro);
        
        packet.payload.putShort(zgyro);
        
        packet.payload.putShort(xmag);
        
        packet.payload.putShort(ymag);
        
        packet.payload.putShort(zmag);
        
        return packet;
    }

    /**
    * Decode a raw_imu message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.time_usec = payload.getUnsignedLong();
        
        this.xacc = payload.getShort();
        
        this.yacc = payload.getShort();
        
        this.zacc = payload.getShort();
        
        this.xgyro = payload.getShort();
        
        this.ygyro = payload.getShort();
        
        this.zgyro = payload.getShort();
        
        this.xmag = payload.getShort();
        
        this.ymag = payload.getShort();
        
        this.zmag = payload.getShort();
        
    }

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

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

                        
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_RAW_IMU -"+" time_usec:"+time_usec+" xacc:"+xacc+" yacc:"+yacc+" zacc:"+zacc+" xgyro:"+xgyro+" ygyro:"+ygyro+" zgyro:"+zgyro+" xmag:"+xmag+" ymag:"+ymag+" zmag:"+zmag+"";
    }
}