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A modern MAVLink library for the JVM written in Kotlin.
There is a newer version: 1.2.8
package com.divpundir.mavlink.definitions.ardupilotmega

import com.divpundir.mavlink.api.GeneratedMavField
import com.divpundir.mavlink.api.GeneratedMavMessage
import com.divpundir.mavlink.api.MavDeserializer
import com.divpundir.mavlink.api.MavMessage
import com.divpundir.mavlink.serialization.decodeFloat
import com.divpundir.mavlink.serialization.encodeFloat
import com.divpundir.mavlink.serialization.truncateZeros
import java.nio.ByteBuffer
import java.nio.ByteOrder
import kotlin.Byte
import kotlin.ByteArray
import kotlin.Float
import kotlin.Int
import kotlin.UInt
import kotlin.Unit

/**
 * Status of DCM attitude estimator.
 */
@GeneratedMavMessage(
  id = 163u,
  crcExtra = 127,
)
public data class Ahrs(
  /**
   * X gyro drift estimate.
   */
  @GeneratedMavField(type = "float")
  public val omegaix: Float = 0F,
  /**
   * Y gyro drift estimate.
   */
  @GeneratedMavField(type = "float")
  public val omegaiy: Float = 0F,
  /**
   * Z gyro drift estimate.
   */
  @GeneratedMavField(type = "float")
  public val omegaiz: Float = 0F,
  /**
   * Average accel_weight.
   */
  @GeneratedMavField(type = "float")
  public val accelWeight: Float = 0F,
  /**
   * Average renormalisation value.
   */
  @GeneratedMavField(type = "float")
  public val renormVal: Float = 0F,
  /**
   * Average error_roll_pitch value.
   */
  @GeneratedMavField(type = "float")
  public val errorRp: Float = 0F,
  /**
   * Average error_yaw value.
   */
  @GeneratedMavField(type = "float")
  public val errorYaw: Float = 0F,
) : MavMessage {
  public override val instanceMetadata: MavMessage.Metadata = METADATA

  public override fun serializeV1(): ByteArray {
    val outputBuffer = ByteBuffer.allocate(SIZE_V1).order(ByteOrder.LITTLE_ENDIAN)
    outputBuffer.encodeFloat(omegaix)
    outputBuffer.encodeFloat(omegaiy)
    outputBuffer.encodeFloat(omegaiz)
    outputBuffer.encodeFloat(accelWeight)
    outputBuffer.encodeFloat(renormVal)
    outputBuffer.encodeFloat(errorRp)
    outputBuffer.encodeFloat(errorYaw)
    return outputBuffer.array()
  }

  public override fun serializeV2(): ByteArray {
    val outputBuffer = ByteBuffer.allocate(SIZE_V2).order(ByteOrder.LITTLE_ENDIAN)
    outputBuffer.encodeFloat(omegaix)
    outputBuffer.encodeFloat(omegaiy)
    outputBuffer.encodeFloat(omegaiz)
    outputBuffer.encodeFloat(accelWeight)
    outputBuffer.encodeFloat(renormVal)
    outputBuffer.encodeFloat(errorRp)
    outputBuffer.encodeFloat(errorYaw)
    return outputBuffer.array().truncateZeros()
  }

  public companion object {
    private const val ID: UInt = 163u

    private const val CRC_EXTRA: Byte = 127

    private const val SIZE_V1: Int = 28

    private const val SIZE_V2: Int = 28

    private val DESERIALIZER: MavDeserializer = MavDeserializer { bytes ->
      val inputBuffer = ByteBuffer.wrap(bytes).order(ByteOrder.LITTLE_ENDIAN)
      val omegaix = inputBuffer.decodeFloat()
      val omegaiy = inputBuffer.decodeFloat()
      val omegaiz = inputBuffer.decodeFloat()
      val accelWeight = inputBuffer.decodeFloat()
      val renormVal = inputBuffer.decodeFloat()
      val errorRp = inputBuffer.decodeFloat()
      val errorYaw = inputBuffer.decodeFloat()

      Ahrs(
        omegaix = omegaix,
        omegaiy = omegaiy,
        omegaiz = omegaiz,
        accelWeight = accelWeight,
        renormVal = renormVal,
        errorRp = errorRp,
        errorYaw = errorYaw,
      )
    }


    private val METADATA: MavMessage.Metadata = MavMessage.Metadata(ID, CRC_EXTRA,
        DESERIALIZER)

    public val classMetadata: MavMessage.Metadata = METADATA

    public fun builder(builderAction: Builder.() -> Unit): Ahrs =
        Builder().apply(builderAction).build()
  }

  public class Builder {
    public var omegaix: Float = 0F

    public var omegaiy: Float = 0F

    public var omegaiz: Float = 0F

    public var accelWeight: Float = 0F

    public var renormVal: Float = 0F

    public var errorRp: Float = 0F

    public var errorYaw: Float = 0F

    public fun build(): Ahrs = Ahrs(
      omegaix = omegaix,
      omegaiy = omegaiy,
      omegaiz = omegaiz,
      accelWeight = accelWeight,
      renormVal = renormVal,
      errorRp = errorRp,
      errorYaw = errorYaw,
    )
  }
}