// MESSAGE LANDING_TARGET PACKING #define MAVLINK_MSG_ID_LANDING_TARGET 149 typedef struct MAVLINK_PACKED __mavlink_landing_target_t { uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/ float angle_x; /*< X-axis angular offset (in radians) of the target from the center of the image*/ float angle_y; /*< Y-axis angular offset (in radians) of the target from the center of the image*/ float distance; /*< Distance to the target from the vehicle in meters*/ float size_x; /*< Size in radians of target along x-axis*/ float size_y; /*< Size in radians of target along y-axis*/ uint8_t target_num; /*< The ID of the target if multiple targets are present*/ uint8_t frame; /*< MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.*/ } mavlink_landing_target_t; #define MAVLINK_MSG_ID_LANDING_TARGET_LEN 30 #define MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN 30 #define MAVLINK_MSG_ID_149_LEN 30 #define MAVLINK_MSG_ID_149_MIN_LEN 30 #define MAVLINK_MSG_ID_LANDING_TARGET_CRC 200 #define MAVLINK_MSG_ID_149_CRC 200 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_LANDING_TARGET { \ 149, \ "LANDING_TARGET", \ 8, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_landing_target_t, time_usec) }, \ { "angle_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_landing_target_t, angle_x) }, \ { "angle_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_landing_target_t, angle_y) }, \ { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_landing_target_t, distance) }, \ { "size_x", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_landing_target_t, size_x) }, \ { "size_y", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_landing_target_t, size_y) }, \ { "target_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_landing_target_t, target_num) }, \ { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_landing_target_t, frame) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_LANDING_TARGET { \ "LANDING_TARGET", \ 8, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_landing_target_t, time_usec) }, \ { "angle_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_landing_target_t, angle_x) }, \ { "angle_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_landing_target_t, angle_y) }, \ { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_landing_target_t, distance) }, \ { "size_x", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_landing_target_t, size_x) }, \ { "size_y", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_landing_target_t, size_y) }, \ { "target_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_landing_target_t, target_num) }, \ { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_landing_target_t, frame) }, \ } \ } #endif /** * @brief Pack a landing_target message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param time_usec Timestamp (micros since boot or Unix epoch) * @param target_num The ID of the target if multiple targets are present * @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc. * @param angle_x X-axis angular offset (in radians) of the target from the center of the image * @param angle_y Y-axis angular offset (in radians) of the target from the center of the image * @param distance Distance to the target from the vehicle in meters * @param size_x Size in radians of target along x-axis * @param size_y Size in radians of target along y-axis * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_landing_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance, float size_x, float size_y) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, angle_x); _mav_put_float(buf, 12, angle_y); _mav_put_float(buf, 16, distance); _mav_put_float(buf, 20, size_x); _mav_put_float(buf, 24, size_y); _mav_put_uint8_t(buf, 28, target_num); _mav_put_uint8_t(buf, 29, frame); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN); #else mavlink_landing_target_t packet; packet.time_usec = time_usec; packet.angle_x = angle_x; packet.angle_y = angle_y; packet.distance = distance; packet.size_x = size_x; packet.size_y = size_y; packet.target_num = target_num; packet.frame = frame; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN); #endif msg->msgid = MAVLINK_MSG_ID_LANDING_TARGET; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC); } /** * @brief Pack a landing_target message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param time_usec Timestamp (micros since boot or Unix epoch) * @param target_num The ID of the target if multiple targets are present * @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc. * @param angle_x X-axis angular offset (in radians) of the target from the center of the image * @param angle_y Y-axis angular offset (in radians) of the target from the center of the image * @param distance Distance to the target from the vehicle in meters * @param size_x Size in radians of target along x-axis * @param size_y Size in radians of target along y-axis * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_landing_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec,uint8_t target_num,uint8_t frame,float angle_x,float angle_y,float distance,float size_x,float size_y) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, angle_x); _mav_put_float(buf, 12, angle_y); _mav_put_float(buf, 16, distance); _mav_put_float(buf, 20, size_x); _mav_put_float(buf, 24, size_y); _mav_put_uint8_t(buf, 28, target_num); _mav_put_uint8_t(buf, 29, frame); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN); #else mavlink_landing_target_t packet; packet.time_usec = time_usec; packet.angle_x = angle_x; packet.angle_y = angle_y; packet.distance = distance; packet.size_x = size_x; packet.size_y = size_y; packet.target_num = target_num; packet.frame = frame; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN); #endif msg->msgid = MAVLINK_MSG_ID_LANDING_TARGET; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC); } /** * @brief Encode a landing_target struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param landing_target C-struct to read the message contents from */ static inline uint16_t mavlink_msg_landing_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_landing_target_t* landing_target) { return mavlink_msg_landing_target_pack(system_id, component_id, msg, landing_target->time_usec, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance, landing_target->size_x, landing_target->size_y); } /** * @brief Encode a landing_target struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param landing_target C-struct to read the message contents from */ static inline uint16_t mavlink_msg_landing_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_landing_target_t* landing_target) { return mavlink_msg_landing_target_pack_chan(system_id, component_id, chan, msg, landing_target->time_usec, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance, landing_target->size_x, landing_target->size_y); } /** * @brief Send a landing_target message * @param chan MAVLink channel to send the message * * @param time_usec Timestamp (micros since boot or Unix epoch) * @param target_num The ID of the target if multiple targets are present * @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc. * @param angle_x X-axis angular offset (in radians) of the target from the center of the image * @param angle_y Y-axis angular offset (in radians) of the target from the center of the image * @param distance Distance to the target from the vehicle in meters * @param size_x Size in radians of target along x-axis * @param size_y Size in radians of target along y-axis */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_landing_target_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance, float size_x, float size_y) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, angle_x); _mav_put_float(buf, 12, angle_y); _mav_put_float(buf, 16, distance); _mav_put_float(buf, 20, size_x); _mav_put_float(buf, 24, size_y); _mav_put_uint8_t(buf, 28, target_num); _mav_put_uint8_t(buf, 29, frame); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC); #else mavlink_landing_target_t packet; packet.time_usec = time_usec; packet.angle_x = angle_x; packet.angle_y = angle_y; packet.distance = distance; packet.size_x = size_x; packet.size_y = size_y; packet.target_num = target_num; packet.frame = frame; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)&packet, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC); #endif } /** * @brief Send a landing_target message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_landing_target_send_struct(mavlink_channel_t chan, const mavlink_landing_target_t* landing_target) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_landing_target_send(chan, landing_target->time_usec, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance, landing_target->size_x, landing_target->size_y); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)landing_target, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC); #endif } #if MAVLINK_MSG_ID_LANDING_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_landing_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance, float size_x, float size_y) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_float(buf, 8, angle_x); _mav_put_float(buf, 12, angle_y); _mav_put_float(buf, 16, distance); _mav_put_float(buf, 20, size_x); _mav_put_float(buf, 24, size_y); _mav_put_uint8_t(buf, 28, target_num); _mav_put_uint8_t(buf, 29, frame); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC); #else mavlink_landing_target_t *packet = (mavlink_landing_target_t *)msgbuf; packet->time_usec = time_usec; packet->angle_x = angle_x; packet->angle_y = angle_y; packet->distance = distance; packet->size_x = size_x; packet->size_y = size_y; packet->target_num = target_num; packet->frame = frame; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)packet, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC); #endif } #endif #endif // MESSAGE LANDING_TARGET UNPACKING /** * @brief Get field time_usec from landing_target message * * @return Timestamp (micros since boot or Unix epoch) */ static inline uint64_t mavlink_msg_landing_target_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field target_num from landing_target message * * @return The ID of the target if multiple targets are present */ static inline uint8_t mavlink_msg_landing_target_get_target_num(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 28); } /** * @brief Get field frame from landing_target message * * @return MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc. */ static inline uint8_t mavlink_msg_landing_target_get_frame(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 29); } /** * @brief Get field angle_x from landing_target message * * @return X-axis angular offset (in radians) of the target from the center of the image */ static inline float mavlink_msg_landing_target_get_angle_x(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field angle_y from landing_target message * * @return Y-axis angular offset (in radians) of the target from the center of the image */ static inline float mavlink_msg_landing_target_get_angle_y(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field distance from landing_target message * * @return Distance to the target from the vehicle in meters */ static inline float mavlink_msg_landing_target_get_distance(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field size_x from landing_target message * * @return Size in radians of target along x-axis */ static inline float mavlink_msg_landing_target_get_size_x(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field size_y from landing_target message * * @return Size in radians of target along y-axis */ static inline float mavlink_msg_landing_target_get_size_y(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Decode a landing_target message into a struct * * @param msg The message to decode * @param landing_target C-struct to decode the message contents into */ static inline void mavlink_msg_landing_target_decode(const mavlink_message_t* msg, mavlink_landing_target_t* landing_target) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS landing_target->time_usec = mavlink_msg_landing_target_get_time_usec(msg); landing_target->angle_x = mavlink_msg_landing_target_get_angle_x(msg); landing_target->angle_y = mavlink_msg_landing_target_get_angle_y(msg); landing_target->distance = mavlink_msg_landing_target_get_distance(msg); landing_target->size_x = mavlink_msg_landing_target_get_size_x(msg); landing_target->size_y = mavlink_msg_landing_target_get_size_y(msg); landing_target->target_num = mavlink_msg_landing_target_get_target_num(msg); landing_target->frame = mavlink_msg_landing_target_get_frame(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_LANDING_TARGET_LEN? msg->len : MAVLINK_MSG_ID_LANDING_TARGET_LEN; memset(landing_target, 0, MAVLINK_MSG_ID_LANDING_TARGET_LEN); memcpy(landing_target, _MAV_PAYLOAD(msg), len); #endif }