source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/include/common/mavlink_msg_estimator_status.h@ 75

Last change on this file since 75 was 75, checked in by Thomas Fuhrmann, 8 years ago

Change the version of mavlink generated messages and rename it to include

File size: 20.3 KB
Line 
1// MESSAGE ESTIMATOR_STATUS PACKING
2
3#define MAVLINK_MSG_ID_ESTIMATOR_STATUS 230
4
5typedef struct MAVLINK_PACKED __mavlink_estimator_status_t
6{
7 uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
8 float vel_ratio; /*< Velocity innovation test ratio*/
9 float pos_horiz_ratio; /*< Horizontal position innovation test ratio*/
10 float pos_vert_ratio; /*< Vertical position innovation test ratio*/
11 float mag_ratio; /*< Magnetometer innovation test ratio*/
12 float hagl_ratio; /*< Height above terrain innovation test ratio*/
13 float tas_ratio; /*< True airspeed innovation test ratio*/
14 float pos_horiz_accuracy; /*< Horizontal position 1-STD accuracy relative to the EKF local origin (m)*/
15 float pos_vert_accuracy; /*< Vertical position 1-STD accuracy relative to the EKF local origin (m)*/
16 uint16_t flags; /*< Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.*/
17} mavlink_estimator_status_t;
18
19#define MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN 42
20#define MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN 42
21#define MAVLINK_MSG_ID_230_LEN 42
22#define MAVLINK_MSG_ID_230_MIN_LEN 42
23
24#define MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC 163
25#define MAVLINK_MSG_ID_230_CRC 163
26
27
28
29#if MAVLINK_COMMAND_24BIT
30#define MAVLINK_MESSAGE_INFO_ESTIMATOR_STATUS { \
31 230, \
32 "ESTIMATOR_STATUS", \
33 10, \
34 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_estimator_status_t, time_usec) }, \
35 { "vel_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_estimator_status_t, vel_ratio) }, \
36 { "pos_horiz_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_estimator_status_t, pos_horiz_ratio) }, \
37 { "pos_vert_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_estimator_status_t, pos_vert_ratio) }, \
38 { "mag_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_estimator_status_t, mag_ratio) }, \
39 { "hagl_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_estimator_status_t, hagl_ratio) }, \
40 { "tas_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_estimator_status_t, tas_ratio) }, \
41 { "pos_horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_estimator_status_t, pos_horiz_accuracy) }, \
42 { "pos_vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_estimator_status_t, pos_vert_accuracy) }, \
43 { "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_estimator_status_t, flags) }, \
44 } \
45}
46#else
47#define MAVLINK_MESSAGE_INFO_ESTIMATOR_STATUS { \
48 "ESTIMATOR_STATUS", \
49 10, \
50 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_estimator_status_t, time_usec) }, \
51 { "vel_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_estimator_status_t, vel_ratio) }, \
52 { "pos_horiz_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_estimator_status_t, pos_horiz_ratio) }, \
53 { "pos_vert_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_estimator_status_t, pos_vert_ratio) }, \
54 { "mag_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_estimator_status_t, mag_ratio) }, \
55 { "hagl_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_estimator_status_t, hagl_ratio) }, \
56 { "tas_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_estimator_status_t, tas_ratio) }, \
57 { "pos_horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_estimator_status_t, pos_horiz_accuracy) }, \
58 { "pos_vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_estimator_status_t, pos_vert_accuracy) }, \
59 { "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_estimator_status_t, flags) }, \
60 } \
61}
62#endif
63
64/**
65 * @brief Pack a estimator_status message
66 * @param system_id ID of this system
67 * @param component_id ID of this component (e.g. 200 for IMU)
68 * @param msg The MAVLink message to compress the data into
69 *
70 * @param time_usec Timestamp (micros since boot or Unix epoch)
71 * @param flags Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.
72 * @param vel_ratio Velocity innovation test ratio
73 * @param pos_horiz_ratio Horizontal position innovation test ratio
74 * @param pos_vert_ratio Vertical position innovation test ratio
75 * @param mag_ratio Magnetometer innovation test ratio
76 * @param hagl_ratio Height above terrain innovation test ratio
77 * @param tas_ratio True airspeed innovation test ratio
78 * @param pos_horiz_accuracy Horizontal position 1-STD accuracy relative to the EKF local origin (m)
79 * @param pos_vert_accuracy Vertical position 1-STD accuracy relative to the EKF local origin (m)
80 * @return length of the message in bytes (excluding serial stream start sign)
81 */
82static inline uint16_t mavlink_msg_estimator_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
83 uint64_t time_usec, uint16_t flags, float vel_ratio, float pos_horiz_ratio, float pos_vert_ratio, float mag_ratio, float hagl_ratio, float tas_ratio, float pos_horiz_accuracy, float pos_vert_accuracy)
84{
85#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
86 char buf[MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN];
87 _mav_put_uint64_t(buf, 0, time_usec);
88 _mav_put_float(buf, 8, vel_ratio);
89 _mav_put_float(buf, 12, pos_horiz_ratio);
90 _mav_put_float(buf, 16, pos_vert_ratio);
91 _mav_put_float(buf, 20, mag_ratio);
92 _mav_put_float(buf, 24, hagl_ratio);
93 _mav_put_float(buf, 28, tas_ratio);
94 _mav_put_float(buf, 32, pos_horiz_accuracy);
95 _mav_put_float(buf, 36, pos_vert_accuracy);
96 _mav_put_uint16_t(buf, 40, flags);
97
98 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
99#else
100 mavlink_estimator_status_t packet;
101 packet.time_usec = time_usec;
102 packet.vel_ratio = vel_ratio;
103 packet.pos_horiz_ratio = pos_horiz_ratio;
104 packet.pos_vert_ratio = pos_vert_ratio;
105 packet.mag_ratio = mag_ratio;
106 packet.hagl_ratio = hagl_ratio;
107 packet.tas_ratio = tas_ratio;
108 packet.pos_horiz_accuracy = pos_horiz_accuracy;
109 packet.pos_vert_accuracy = pos_vert_accuracy;
110 packet.flags = flags;
111
112 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
113#endif
114
115 msg->msgid = MAVLINK_MSG_ID_ESTIMATOR_STATUS;
116 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
117}
118
119/**
120 * @brief Pack a estimator_status message on a channel
121 * @param system_id ID of this system
122 * @param component_id ID of this component (e.g. 200 for IMU)
123 * @param chan The MAVLink channel this message will be sent over
124 * @param msg The MAVLink message to compress the data into
125 * @param time_usec Timestamp (micros since boot or Unix epoch)
126 * @param flags Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.
127 * @param vel_ratio Velocity innovation test ratio
128 * @param pos_horiz_ratio Horizontal position innovation test ratio
129 * @param pos_vert_ratio Vertical position innovation test ratio
130 * @param mag_ratio Magnetometer innovation test ratio
131 * @param hagl_ratio Height above terrain innovation test ratio
132 * @param tas_ratio True airspeed innovation test ratio
133 * @param pos_horiz_accuracy Horizontal position 1-STD accuracy relative to the EKF local origin (m)
134 * @param pos_vert_accuracy Vertical position 1-STD accuracy relative to the EKF local origin (m)
135 * @return length of the message in bytes (excluding serial stream start sign)
136 */
137static inline uint16_t mavlink_msg_estimator_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
138 mavlink_message_t* msg,
139 uint64_t time_usec,uint16_t flags,float vel_ratio,float pos_horiz_ratio,float pos_vert_ratio,float mag_ratio,float hagl_ratio,float tas_ratio,float pos_horiz_accuracy,float pos_vert_accuracy)
140{
141#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
142 char buf[MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN];
143 _mav_put_uint64_t(buf, 0, time_usec);
144 _mav_put_float(buf, 8, vel_ratio);
145 _mav_put_float(buf, 12, pos_horiz_ratio);
146 _mav_put_float(buf, 16, pos_vert_ratio);
147 _mav_put_float(buf, 20, mag_ratio);
148 _mav_put_float(buf, 24, hagl_ratio);
149 _mav_put_float(buf, 28, tas_ratio);
150 _mav_put_float(buf, 32, pos_horiz_accuracy);
151 _mav_put_float(buf, 36, pos_vert_accuracy);
152 _mav_put_uint16_t(buf, 40, flags);
153
154 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
155#else
156 mavlink_estimator_status_t packet;
157 packet.time_usec = time_usec;
158 packet.vel_ratio = vel_ratio;
159 packet.pos_horiz_ratio = pos_horiz_ratio;
160 packet.pos_vert_ratio = pos_vert_ratio;
161 packet.mag_ratio = mag_ratio;
162 packet.hagl_ratio = hagl_ratio;
163 packet.tas_ratio = tas_ratio;
164 packet.pos_horiz_accuracy = pos_horiz_accuracy;
165 packet.pos_vert_accuracy = pos_vert_accuracy;
166 packet.flags = flags;
167
168 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
169#endif
170
171 msg->msgid = MAVLINK_MSG_ID_ESTIMATOR_STATUS;
172 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
173}
174
175/**
176 * @brief Encode a estimator_status struct
177 *
178 * @param system_id ID of this system
179 * @param component_id ID of this component (e.g. 200 for IMU)
180 * @param msg The MAVLink message to compress the data into
181 * @param estimator_status C-struct to read the message contents from
182 */
183static inline uint16_t mavlink_msg_estimator_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_estimator_status_t* estimator_status)
184{
185 return mavlink_msg_estimator_status_pack(system_id, component_id, msg, estimator_status->time_usec, estimator_status->flags, estimator_status->vel_ratio, estimator_status->pos_horiz_ratio, estimator_status->pos_vert_ratio, estimator_status->mag_ratio, estimator_status->hagl_ratio, estimator_status->tas_ratio, estimator_status->pos_horiz_accuracy, estimator_status->pos_vert_accuracy);
186}
187
188/**
189 * @brief Encode a estimator_status struct on a channel
190 *
191 * @param system_id ID of this system
192 * @param component_id ID of this component (e.g. 200 for IMU)
193 * @param chan The MAVLink channel this message will be sent over
194 * @param msg The MAVLink message to compress the data into
195 * @param estimator_status C-struct to read the message contents from
196 */
197static inline uint16_t mavlink_msg_estimator_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_estimator_status_t* estimator_status)
198{
199 return mavlink_msg_estimator_status_pack_chan(system_id, component_id, chan, msg, estimator_status->time_usec, estimator_status->flags, estimator_status->vel_ratio, estimator_status->pos_horiz_ratio, estimator_status->pos_vert_ratio, estimator_status->mag_ratio, estimator_status->hagl_ratio, estimator_status->tas_ratio, estimator_status->pos_horiz_accuracy, estimator_status->pos_vert_accuracy);
200}
201
202/**
203 * @brief Send a estimator_status message
204 * @param chan MAVLink channel to send the message
205 *
206 * @param time_usec Timestamp (micros since boot or Unix epoch)
207 * @param flags Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.
208 * @param vel_ratio Velocity innovation test ratio
209 * @param pos_horiz_ratio Horizontal position innovation test ratio
210 * @param pos_vert_ratio Vertical position innovation test ratio
211 * @param mag_ratio Magnetometer innovation test ratio
212 * @param hagl_ratio Height above terrain innovation test ratio
213 * @param tas_ratio True airspeed innovation test ratio
214 * @param pos_horiz_accuracy Horizontal position 1-STD accuracy relative to the EKF local origin (m)
215 * @param pos_vert_accuracy Vertical position 1-STD accuracy relative to the EKF local origin (m)
216 */
217#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
218
219static inline void mavlink_msg_estimator_status_send(mavlink_channel_t chan, uint64_t time_usec, uint16_t flags, float vel_ratio, float pos_horiz_ratio, float pos_vert_ratio, float mag_ratio, float hagl_ratio, float tas_ratio, float pos_horiz_accuracy, float pos_vert_accuracy)
220{
221#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
222 char buf[MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN];
223 _mav_put_uint64_t(buf, 0, time_usec);
224 _mav_put_float(buf, 8, vel_ratio);
225 _mav_put_float(buf, 12, pos_horiz_ratio);
226 _mav_put_float(buf, 16, pos_vert_ratio);
227 _mav_put_float(buf, 20, mag_ratio);
228 _mav_put_float(buf, 24, hagl_ratio);
229 _mav_put_float(buf, 28, tas_ratio);
230 _mav_put_float(buf, 32, pos_horiz_accuracy);
231 _mav_put_float(buf, 36, pos_vert_accuracy);
232 _mav_put_uint16_t(buf, 40, flags);
233
234 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
235#else
236 mavlink_estimator_status_t packet;
237 packet.time_usec = time_usec;
238 packet.vel_ratio = vel_ratio;
239 packet.pos_horiz_ratio = pos_horiz_ratio;
240 packet.pos_vert_ratio = pos_vert_ratio;
241 packet.mag_ratio = mag_ratio;
242 packet.hagl_ratio = hagl_ratio;
243 packet.tas_ratio = tas_ratio;
244 packet.pos_horiz_accuracy = pos_horiz_accuracy;
245 packet.pos_vert_accuracy = pos_vert_accuracy;
246 packet.flags = flags;
247
248 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, (const char *)&packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
249#endif
250}
251
252/**
253 * @brief Send a estimator_status message
254 * @param chan MAVLink channel to send the message
255 * @param struct The MAVLink struct to serialize
256 */
257static inline void mavlink_msg_estimator_status_send_struct(mavlink_channel_t chan, const mavlink_estimator_status_t* estimator_status)
258{
259#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
260 mavlink_msg_estimator_status_send(chan, estimator_status->time_usec, estimator_status->flags, estimator_status->vel_ratio, estimator_status->pos_horiz_ratio, estimator_status->pos_vert_ratio, estimator_status->mag_ratio, estimator_status->hagl_ratio, estimator_status->tas_ratio, estimator_status->pos_horiz_accuracy, estimator_status->pos_vert_accuracy);
261#else
262 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, (const char *)estimator_status, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
263#endif
264}
265
266#if MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
267/*
268 This varient of _send() can be used to save stack space by re-using
269 memory from the receive buffer. The caller provides a
270 mavlink_message_t which is the size of a full mavlink message. This
271 is usually the receive buffer for the channel, and allows a reply to an
272 incoming message with minimum stack space usage.
273 */
274static inline void mavlink_msg_estimator_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint16_t flags, float vel_ratio, float pos_horiz_ratio, float pos_vert_ratio, float mag_ratio, float hagl_ratio, float tas_ratio, float pos_horiz_accuracy, float pos_vert_accuracy)
275{
276#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
277 char *buf = (char *)msgbuf;
278 _mav_put_uint64_t(buf, 0, time_usec);
279 _mav_put_float(buf, 8, vel_ratio);
280 _mav_put_float(buf, 12, pos_horiz_ratio);
281 _mav_put_float(buf, 16, pos_vert_ratio);
282 _mav_put_float(buf, 20, mag_ratio);
283 _mav_put_float(buf, 24, hagl_ratio);
284 _mav_put_float(buf, 28, tas_ratio);
285 _mav_put_float(buf, 32, pos_horiz_accuracy);
286 _mav_put_float(buf, 36, pos_vert_accuracy);
287 _mav_put_uint16_t(buf, 40, flags);
288
289 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
290#else
291 mavlink_estimator_status_t *packet = (mavlink_estimator_status_t *)msgbuf;
292 packet->time_usec = time_usec;
293 packet->vel_ratio = vel_ratio;
294 packet->pos_horiz_ratio = pos_horiz_ratio;
295 packet->pos_vert_ratio = pos_vert_ratio;
296 packet->mag_ratio = mag_ratio;
297 packet->hagl_ratio = hagl_ratio;
298 packet->tas_ratio = tas_ratio;
299 packet->pos_horiz_accuracy = pos_horiz_accuracy;
300 packet->pos_vert_accuracy = pos_vert_accuracy;
301 packet->flags = flags;
302
303 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, (const char *)packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
304#endif
305}
306#endif
307
308#endif
309
310// MESSAGE ESTIMATOR_STATUS UNPACKING
311
312
313/**
314 * @brief Get field time_usec from estimator_status message
315 *
316 * @return Timestamp (micros since boot or Unix epoch)
317 */
318static inline uint64_t mavlink_msg_estimator_status_get_time_usec(const mavlink_message_t* msg)
319{
320 return _MAV_RETURN_uint64_t(msg, 0);
321}
322
323/**
324 * @brief Get field flags from estimator_status message
325 *
326 * @return Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.
327 */
328static inline uint16_t mavlink_msg_estimator_status_get_flags(const mavlink_message_t* msg)
329{
330 return _MAV_RETURN_uint16_t(msg, 40);
331}
332
333/**
334 * @brief Get field vel_ratio from estimator_status message
335 *
336 * @return Velocity innovation test ratio
337 */
338static inline float mavlink_msg_estimator_status_get_vel_ratio(const mavlink_message_t* msg)
339{
340 return _MAV_RETURN_float(msg, 8);
341}
342
343/**
344 * @brief Get field pos_horiz_ratio from estimator_status message
345 *
346 * @return Horizontal position innovation test ratio
347 */
348static inline float mavlink_msg_estimator_status_get_pos_horiz_ratio(const mavlink_message_t* msg)
349{
350 return _MAV_RETURN_float(msg, 12);
351}
352
353/**
354 * @brief Get field pos_vert_ratio from estimator_status message
355 *
356 * @return Vertical position innovation test ratio
357 */
358static inline float mavlink_msg_estimator_status_get_pos_vert_ratio(const mavlink_message_t* msg)
359{
360 return _MAV_RETURN_float(msg, 16);
361}
362
363/**
364 * @brief Get field mag_ratio from estimator_status message
365 *
366 * @return Magnetometer innovation test ratio
367 */
368static inline float mavlink_msg_estimator_status_get_mag_ratio(const mavlink_message_t* msg)
369{
370 return _MAV_RETURN_float(msg, 20);
371}
372
373/**
374 * @brief Get field hagl_ratio from estimator_status message
375 *
376 * @return Height above terrain innovation test ratio
377 */
378static inline float mavlink_msg_estimator_status_get_hagl_ratio(const mavlink_message_t* msg)
379{
380 return _MAV_RETURN_float(msg, 24);
381}
382
383/**
384 * @brief Get field tas_ratio from estimator_status message
385 *
386 * @return True airspeed innovation test ratio
387 */
388static inline float mavlink_msg_estimator_status_get_tas_ratio(const mavlink_message_t* msg)
389{
390 return _MAV_RETURN_float(msg, 28);
391}
392
393/**
394 * @brief Get field pos_horiz_accuracy from estimator_status message
395 *
396 * @return Horizontal position 1-STD accuracy relative to the EKF local origin (m)
397 */
398static inline float mavlink_msg_estimator_status_get_pos_horiz_accuracy(const mavlink_message_t* msg)
399{
400 return _MAV_RETURN_float(msg, 32);
401}
402
403/**
404 * @brief Get field pos_vert_accuracy from estimator_status message
405 *
406 * @return Vertical position 1-STD accuracy relative to the EKF local origin (m)
407 */
408static inline float mavlink_msg_estimator_status_get_pos_vert_accuracy(const mavlink_message_t* msg)
409{
410 return _MAV_RETURN_float(msg, 36);
411}
412
413/**
414 * @brief Decode a estimator_status message into a struct
415 *
416 * @param msg The message to decode
417 * @param estimator_status C-struct to decode the message contents into
418 */
419static inline void mavlink_msg_estimator_status_decode(const mavlink_message_t* msg, mavlink_estimator_status_t* estimator_status)
420{
421#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
422 estimator_status->time_usec = mavlink_msg_estimator_status_get_time_usec(msg);
423 estimator_status->vel_ratio = mavlink_msg_estimator_status_get_vel_ratio(msg);
424 estimator_status->pos_horiz_ratio = mavlink_msg_estimator_status_get_pos_horiz_ratio(msg);
425 estimator_status->pos_vert_ratio = mavlink_msg_estimator_status_get_pos_vert_ratio(msg);
426 estimator_status->mag_ratio = mavlink_msg_estimator_status_get_mag_ratio(msg);
427 estimator_status->hagl_ratio = mavlink_msg_estimator_status_get_hagl_ratio(msg);
428 estimator_status->tas_ratio = mavlink_msg_estimator_status_get_tas_ratio(msg);
429 estimator_status->pos_horiz_accuracy = mavlink_msg_estimator_status_get_pos_horiz_accuracy(msg);
430 estimator_status->pos_vert_accuracy = mavlink_msg_estimator_status_get_pos_vert_accuracy(msg);
431 estimator_status->flags = mavlink_msg_estimator_status_get_flags(msg);
432#else
433 uint8_t len = msg->len < MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN? msg->len : MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN;
434 memset(estimator_status, 0, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
435 memcpy(estimator_status, _MAV_PAYLOAD(msg), len);
436#endif
437}
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