msg_sim_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 SIM_STATE PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* Status of simulation environment, if used
*/
public class msg_sim_state extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_SIM_STATE = 108;
    public static final int MAVLINK_MSG_LENGTH = 84;
    private static final long serialVersionUID = MAVLINK_MSG_ID_SIM_STATE;


    
    /**
    * True attitude quaternion component 1, w (1 in null-rotation)
    */
    public float q1;
    
    /**
    * True attitude quaternion component 2, x (0 in null-rotation)
    */
    public float q2;
    
    /**
    * True attitude quaternion component 3, y (0 in null-rotation)
    */
    public float q3;
    
    /**
    * True attitude quaternion component 4, z (0 in null-rotation)
    */
    public float q4;
    
    /**
    * Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
    */
    public float roll;
    
    /**
    * Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
    */
    public float pitch;
    
    /**
    * Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
    */
    public float yaw;
    
    /**
    * X acceleration m/s/s
    */
    public float xacc;
    
    /**
    * Y acceleration m/s/s
    */
    public float yacc;
    
    /**
    * Z acceleration m/s/s
    */
    public float zacc;
    
    /**
    * Angular speed around X axis rad/s
    */
    public float xgyro;
    
    /**
    * Angular speed around Y axis rad/s
    */
    public float ygyro;
    
    /**
    * Angular speed around Z axis rad/s
    */
    public float zgyro;
    
    /**
    * Latitude in degrees
    */
    public float lat;
    
    /**
    * Longitude in degrees
    */
    public float lon;
    
    /**
    * Altitude in meters
    */
    public float alt;
    
    /**
    * Horizontal position standard deviation
    */
    public float std_dev_horz;
    
    /**
    * Vertical position standard deviation
    */
    public float std_dev_vert;
    
    /**
    * True velocity in m/s in NORTH direction in earth-fixed NED frame
    */
    public float vn;
    
    /**
    * True velocity in m/s in EAST direction in earth-fixed NED frame
    */
    public float ve;
    
    /**
    * True velocity in m/s in DOWN direction in earth-fixed NED frame
    */
    public float vd;
    

    /**
    * 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_SIM_STATE;
        
        packet.payload.putFloat(q1);
        
        packet.payload.putFloat(q2);
        
        packet.payload.putFloat(q3);
        
        packet.payload.putFloat(q4);
        
        packet.payload.putFloat(roll);
        
        packet.payload.putFloat(pitch);
        
        packet.payload.putFloat(yaw);
        
        packet.payload.putFloat(xacc);
        
        packet.payload.putFloat(yacc);
        
        packet.payload.putFloat(zacc);
        
        packet.payload.putFloat(xgyro);
        
        packet.payload.putFloat(ygyro);
        
        packet.payload.putFloat(zgyro);
        
        packet.payload.putFloat(lat);
        
        packet.payload.putFloat(lon);
        
        packet.payload.putFloat(alt);
        
        packet.payload.putFloat(std_dev_horz);
        
        packet.payload.putFloat(std_dev_vert);
        
        packet.payload.putFloat(vn);
        
        packet.payload.putFloat(ve);
        
        packet.payload.putFloat(vd);
        
        return packet;
    }

    /**
    * Decode a sim_state message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.q1 = payload.getFloat();
        
        this.q2 = payload.getFloat();
        
        this.q3 = payload.getFloat();
        
        this.q4 = payload.getFloat();
        
        this.roll = payload.getFloat();
        
        this.pitch = payload.getFloat();
        
        this.yaw = payload.getFloat();
        
        this.xacc = payload.getFloat();
        
        this.yacc = payload.getFloat();
        
        this.zacc = payload.getFloat();
        
        this.xgyro = payload.getFloat();
        
        this.ygyro = payload.getFloat();
        
        this.zgyro = payload.getFloat();
        
        this.lat = payload.getFloat();
        
        this.lon = payload.getFloat();
        
        this.alt = payload.getFloat();
        
        this.std_dev_horz = payload.getFloat();
        
        this.std_dev_vert = payload.getFloat();
        
        this.vn = payload.getFloat();
        
        this.ve = payload.getFloat();
        
        this.vd = payload.getFloat();
        
    }

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

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

                                              
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_SIM_STATE -"+" q1:"+q1+" q2:"+q2+" q3:"+q3+" q4:"+q4+" roll:"+roll+" pitch:"+pitch+" yaw:"+yaw+" xacc:"+xacc+" yacc:"+yacc+" zacc:"+zacc+" xgyro:"+xgyro+" ygyro:"+ygyro+" zgyro:"+zgyro+" lat:"+lat+" lon:"+lon+" alt:"+alt+" std_dev_horz:"+std_dev_horz+" std_dev_vert:"+std_dev_vert+" vn:"+vn+" ve:"+ve+" vd:"+vd+"";
    }
}