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mavlink protocol description
package cn.wsyjlly.mavlink.common.messages;
import cn.wsyjlly.mavlink.annotation.MavlinkMessage;
import cn.wsyjlly.mavlink.annotation.MavlinkMessageParam;
import cn.wsyjlly.mavlink.common.Message;
import cn.wsyjlly.mavlink.protocol.ByteArray;
import cn.wsyjlly.mavlink.protocol.util.ByteModel;
import java.util.Objects;
import java.math.BigInteger;
/**********************************
* Author YSW
* Description
* Date 2020.11.09 - 03:37
**********************************/
@MavlinkMessage(
id = 105,
messagePayloadLength = 62,
description = "The IMU readings in SI units in NED body frame"
)
public class HighresImu implements Message {
@MavlinkMessageParam(mavlinkType = "uint64_t", position = 1, typeSize = 8, streamLength = 8)
private BigInteger timeUsec;
@MavlinkMessageParam(mavlinkType = "float", position = 2, typeSize = 4, streamLength = 4)
private float xacc;
@MavlinkMessageParam(mavlinkType = "float", position = 3, typeSize = 4, streamLength = 4)
private float yacc;
@MavlinkMessageParam(mavlinkType = "float", position = 4, typeSize = 4, streamLength = 4)
private float zacc;
@MavlinkMessageParam(mavlinkType = "float", position = 5, typeSize = 4, streamLength = 4)
private float xgyro;
@MavlinkMessageParam(mavlinkType = "float", position = 6, typeSize = 4, streamLength = 4)
private float ygyro;
@MavlinkMessageParam(mavlinkType = "float", position = 7, typeSize = 4, streamLength = 4)
private float zgyro;
@MavlinkMessageParam(mavlinkType = "float", position = 8, typeSize = 4, streamLength = 4)
private float xmag;
@MavlinkMessageParam(mavlinkType = "float", position = 9, typeSize = 4, streamLength = 4)
private float ymag;
@MavlinkMessageParam(mavlinkType = "float", position = 10, typeSize = 4, streamLength = 4)
private float zmag;
@MavlinkMessageParam(mavlinkType = "float", position = 11, typeSize = 4, streamLength = 4)
private float absPressure;
@MavlinkMessageParam(mavlinkType = "float", position = 12, typeSize = 4, streamLength = 4)
private float diffPressure;
@MavlinkMessageParam(mavlinkType = "float", position = 13, typeSize = 4, streamLength = 4)
private float pressureAlt;
@MavlinkMessageParam(mavlinkType = "float", position = 14, typeSize = 4, streamLength = 4)
private float temperature;
@MavlinkMessageParam(mavlinkType = "uint16_t", position = 15, typeSize = 2, streamLength = 2)
private int fieldsUpdated;
private final int messagePayloadLength = 62;
private byte[] messagePayload = new byte[messagePayloadLength];
public HighresImu(BigInteger timeUsec, float xacc, float yacc, float zacc, float xgyro, float ygyro, float zgyro, float xmag, float ymag, float zmag, float absPressure, float diffPressure, float pressureAlt, float temperature, int fieldsUpdated) {
this.timeUsec = timeUsec;
this.xacc = xacc;
this.yacc = yacc;
this.zacc = zacc;
this.xgyro = xgyro;
this.ygyro = ygyro;
this.zgyro = zgyro;
this.xmag = xmag;
this.ymag = ymag;
this.zmag = zmag;
this.absPressure = absPressure;
this.diffPressure = diffPressure;
this.pressureAlt = pressureAlt;
this.temperature = temperature;
this.fieldsUpdated = fieldsUpdated;
}
public HighresImu(byte[] messagePayload) {
if (messagePayload.length != messagePayloadLength){
throw new IllegalArgumentException("Byte array length is not equal to 62！");
}
messagePayload(messagePayload);
}
public HighresImu(){ }
@Override
public void messagePayload(byte[] messagePayload) {
this.messagePayload = messagePayload;
ByteArray byteArray = new ByteArray(messagePayload);
this.timeUsec = byteArray.getUnsignedInt64(0);
this.xacc = byteArray.getFloat(8);
this.yacc = byteArray.getFloat(12);
this.zacc = byteArray.getFloat(16);
this.xgyro = byteArray.getFloat(20);
this.ygyro = byteArray.getFloat(24);
this.zgyro = byteArray.getFloat(28);
this.xmag = byteArray.getFloat(32);
this.ymag = byteArray.getFloat(36);
this.zmag = byteArray.getFloat(40);
this.absPressure = byteArray.getFloat(44);
this.diffPressure = byteArray.getFloat(48);
this.pressureAlt = byteArray.getFloat(52);
this.temperature = byteArray.getFloat(56);
this.fieldsUpdated = byteArray.getUnsignedInt16(60);
}
@Override
public byte[] messagePayload() {
return messagePayload;
}
@Override
public String hexStringPayload() {
return ByteModel.bytes2HexString(messagePayload);
}
public final HighresImu setTimeUsec(BigInteger timeUsec) {
this.timeUsec = timeUsec;
return this;
}
public final BigInteger getTimeUsec() {
return timeUsec;
}
public final HighresImu setXacc(float xacc) {
this.xacc = xacc;
return this;
}
public final float getXacc() {
return xacc;
}
public final HighresImu setYacc(float yacc) {
this.yacc = yacc;
return this;
}
public final float getYacc() {
return yacc;
}
public final HighresImu setZacc(float zacc) {
this.zacc = zacc;
return this;
}
public final float getZacc() {
return zacc;
}
public final HighresImu setXgyro(float xgyro) {
this.xgyro = xgyro;
return this;
}
public final float getXgyro() {
return xgyro;
}
public final HighresImu setYgyro(float ygyro) {
this.ygyro = ygyro;
return this;
}
public final float getYgyro() {
return ygyro;
}
public final HighresImu setZgyro(float zgyro) {
this.zgyro = zgyro;
return this;
}
public final float getZgyro() {
return zgyro;
}
public final HighresImu setXmag(float xmag) {
this.xmag = xmag;
return this;
}
public final float getXmag() {
return xmag;
}
public final HighresImu setYmag(float ymag) {
this.ymag = ymag;
return this;
}
public final float getYmag() {
return ymag;
}
public final HighresImu setZmag(float zmag) {
this.zmag = zmag;
return this;
}
public final float getZmag() {
return zmag;
}
public final HighresImu setAbsPressure(float absPressure) {
this.absPressure = absPressure;
return this;
}
public final float getAbsPressure() {
return absPressure;
}
public final HighresImu setDiffPressure(float diffPressure) {
this.diffPressure = diffPressure;
return this;
}
public final float getDiffPressure() {
return diffPressure;
}
public final HighresImu setPressureAlt(float pressureAlt) {
this.pressureAlt = pressureAlt;
return this;
}
public final float getPressureAlt() {
return pressureAlt;
}
public final HighresImu setTemperature(float temperature) {
this.temperature = temperature;
return this;
}
public final float getTemperature() {
return temperature;
}
public final HighresImu setFieldsUpdated(int fieldsUpdated) {
this.fieldsUpdated = fieldsUpdated;
return this;
}
public final int getFieldsUpdated() {
return fieldsUpdated;
}
@Override
public boolean equals(Object o) {
if (this == o) {
return true;
} else if (o != null && this.getClass().equals(o.getClass())) {
HighresImu other = (HighresImu)o;
if (!Objects.deepEquals(this.timeUsec, other.timeUsec)) {
return false;
} else if (!Objects.deepEquals(this.xacc, other.xacc)) {
return false;
} else if (!Objects.deepEquals(this.yacc, other.yacc)) {
return false;
} else if (!Objects.deepEquals(this.zacc, other.zacc)) {
return false;
} else if (!Objects.deepEquals(this.xgyro, other.xgyro)) {
return false;
} else if (!Objects.deepEquals(this.ygyro, other.ygyro)) {
return false;
} else if (!Objects.deepEquals(this.zgyro, other.zgyro)) {
return false;
} else if (!Objects.deepEquals(this.xmag, other.xmag)) {
return false;
} else if (!Objects.deepEquals(this.ymag, other.ymag)) {
return false;
} else if (!Objects.deepEquals(this.zmag, other.zmag)) {
return false;
} else if (!Objects.deepEquals(this.absPressure, other.absPressure)) {
return false;
} else if (!Objects.deepEquals(this.diffPressure, other.diffPressure)) {
return false;
} else if (!Objects.deepEquals(this.pressureAlt, other.pressureAlt)) {
return false;
} else if (!Objects.deepEquals(this.temperature, other.temperature)) {
return false;
} else {
return Objects.deepEquals(this.fieldsUpdated, other.fieldsUpdated);
}
} else {
return false;
}
}
@Override
public int hashCode() {
int result = 0;
result = 31 * result + Objects.hashCode(this.timeUsec);
result = 31 * result + Objects.hashCode(this.xacc);
result = 31 * result + Objects.hashCode(this.yacc);
result = 31 * result + Objects.hashCode(this.zacc);
result = 31 * result + Objects.hashCode(this.xgyro);
result = 31 * result + Objects.hashCode(this.ygyro);
result = 31 * result + Objects.hashCode(this.zgyro);
result = 31 * result + Objects.hashCode(this.xmag);
result = 31 * result + Objects.hashCode(this.ymag);
result = 31 * result + Objects.hashCode(this.zmag);
result = 31 * result + Objects.hashCode(this.absPressure);
result = 31 * result + Objects.hashCode(this.diffPressure);
result = 31 * result + Objects.hashCode(this.pressureAlt);
result = 31 * result + Objects.hashCode(this.temperature);
result = 31 * result + Objects.hashCode(this.fieldsUpdated);
return result;
}
@Override
public String toString() {
return "HighresImu{" +
"timeUsec=" + timeUsec +
", xacc=" + xacc +
", yacc=" + yacc +
", zacc=" + zacc +
", xgyro=" + xgyro +
", ygyro=" + ygyro +
", zgyro=" + zgyro +
", xmag=" + xmag +
", ymag=" + ymag +
", zmag=" + zmag +
", absPressure=" + absPressure +
", diffPressure=" + diffPressure +
", pressureAlt=" + pressureAlt +
", temperature=" + temperature +
", fieldsUpdated=" + fieldsUpdated +
'}';
}
}