1 | // MESSAGE LOCAL_POSITION_NED PACKING
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2 |
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3 | #define MAVLINK_MSG_ID_LOCAL_POSITION_NED 32
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4 |
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5 | typedef struct MAVLINK_PACKED __mavlink_local_position_ned_t
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6 | {
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7 | uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
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8 | float x; /*< X Position*/
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9 | float y; /*< Y Position*/
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10 | float z; /*< Z Position*/
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11 | float vx; /*< X Speed*/
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12 | float vy; /*< Y Speed*/
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13 | float vz; /*< Z Speed*/
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14 | } mavlink_local_position_ned_t;
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15 |
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16 | #define MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN 28
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17 | #define MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN 28
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18 | #define MAVLINK_MSG_ID_32_LEN 28
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19 | #define MAVLINK_MSG_ID_32_MIN_LEN 28
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20 |
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21 | #define MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC 185
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22 | #define MAVLINK_MSG_ID_32_CRC 185
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23 |
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24 |
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25 |
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26 | #if MAVLINK_COMMAND_24BIT
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27 | #define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \
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28 | 32, \
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29 | "LOCAL_POSITION_NED", \
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30 | 7, \
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31 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
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32 | { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
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33 | { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
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34 | { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
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35 | { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
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36 | { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
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37 | { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
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38 | } \
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39 | }
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40 | #else
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41 | #define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \
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42 | "LOCAL_POSITION_NED", \
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43 | 7, \
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44 | { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
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45 | { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
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46 | { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
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47 | { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
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48 | { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
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49 | { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
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50 | { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
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51 | } \
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52 | }
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53 | #endif
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54 |
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55 | /**
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56 | * @brief Pack a local_position_ned message
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57 | * @param system_id ID of this system
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58 | * @param component_id ID of this component (e.g. 200 for IMU)
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59 | * @param msg The MAVLink message to compress the data into
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60 | *
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61 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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62 | * @param x X Position
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63 | * @param y Y Position
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64 | * @param z Z Position
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65 | * @param vx X Speed
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66 | * @param vy Y Speed
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67 | * @param vz Z Speed
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68 | * @return length of the message in bytes (excluding serial stream start sign)
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69 | */
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70 | static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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71 | uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
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72 | {
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73 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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74 | char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
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75 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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76 | _mav_put_float(buf, 4, x);
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77 | _mav_put_float(buf, 8, y);
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78 | _mav_put_float(buf, 12, z);
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79 | _mav_put_float(buf, 16, vx);
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80 | _mav_put_float(buf, 20, vy);
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81 | _mav_put_float(buf, 24, vz);
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82 |
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83 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
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84 | #else
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85 | mavlink_local_position_ned_t packet;
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86 | packet.time_boot_ms = time_boot_ms;
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87 | packet.x = x;
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88 | packet.y = y;
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89 | packet.z = z;
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90 | packet.vx = vx;
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91 | packet.vy = vy;
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92 | packet.vz = vz;
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93 |
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94 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
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95 | #endif
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96 |
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97 | msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
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98 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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99 | }
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100 |
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101 | /**
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102 | * @brief Pack a local_position_ned message on a channel
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103 | * @param system_id ID of this system
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104 | * @param component_id ID of this component (e.g. 200 for IMU)
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105 | * @param chan The MAVLink channel this message will be sent over
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106 | * @param msg The MAVLink message to compress the data into
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107 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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108 | * @param x X Position
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109 | * @param y Y Position
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110 | * @param z Z Position
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111 | * @param vx X Speed
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112 | * @param vy Y Speed
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113 | * @param vz Z Speed
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114 | * @return length of the message in bytes (excluding serial stream start sign)
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115 | */
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116 | static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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117 | mavlink_message_t* msg,
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118 | uint32_t time_boot_ms,float x,float y,float z,float vx,float vy,float vz)
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119 | {
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120 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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121 | char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
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122 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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123 | _mav_put_float(buf, 4, x);
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124 | _mav_put_float(buf, 8, y);
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125 | _mav_put_float(buf, 12, z);
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126 | _mav_put_float(buf, 16, vx);
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127 | _mav_put_float(buf, 20, vy);
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128 | _mav_put_float(buf, 24, vz);
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129 |
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130 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
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131 | #else
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132 | mavlink_local_position_ned_t packet;
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133 | packet.time_boot_ms = time_boot_ms;
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134 | packet.x = x;
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135 | packet.y = y;
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136 | packet.z = z;
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137 | packet.vx = vx;
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138 | packet.vy = vy;
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139 | packet.vz = vz;
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140 |
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141 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
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142 | #endif
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143 |
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144 | msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
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145 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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146 | }
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147 |
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148 | /**
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149 | * @brief Encode a local_position_ned struct
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150 | *
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151 | * @param system_id ID of this system
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152 | * @param component_id ID of this component (e.g. 200 for IMU)
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153 | * @param msg The MAVLink message to compress the data into
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154 | * @param local_position_ned C-struct to read the message contents from
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155 | */
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156 | static inline uint16_t mavlink_msg_local_position_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
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157 | {
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158 | return mavlink_msg_local_position_ned_pack(system_id, component_id, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
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159 | }
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160 |
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161 | /**
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162 | * @brief Encode a local_position_ned struct on a channel
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163 | *
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164 | * @param system_id ID of this system
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165 | * @param component_id ID of this component (e.g. 200 for IMU)
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166 | * @param chan The MAVLink channel this message will be sent over
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167 | * @param msg The MAVLink message to compress the data into
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168 | * @param local_position_ned C-struct to read the message contents from
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169 | */
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170 | static inline uint16_t mavlink_msg_local_position_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
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171 | {
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172 | return mavlink_msg_local_position_ned_pack_chan(system_id, component_id, chan, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
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173 | }
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174 |
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175 | /**
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176 | * @brief Send a local_position_ned message
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177 | * @param chan MAVLink channel to send the message
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178 | *
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179 | * @param time_boot_ms Timestamp (milliseconds since system boot)
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180 | * @param x X Position
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181 | * @param y Y Position
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182 | * @param z Z Position
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183 | * @param vx X Speed
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184 | * @param vy Y Speed
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185 | * @param vz Z Speed
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186 | */
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187 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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188 |
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189 | static inline void mavlink_msg_local_position_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
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190 | {
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191 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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192 | char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
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193 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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194 | _mav_put_float(buf, 4, x);
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195 | _mav_put_float(buf, 8, y);
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196 | _mav_put_float(buf, 12, z);
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197 | _mav_put_float(buf, 16, vx);
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198 | _mav_put_float(buf, 20, vy);
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199 | _mav_put_float(buf, 24, vz);
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200 |
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201 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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202 | #else
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203 | mavlink_local_position_ned_t packet;
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204 | packet.time_boot_ms = time_boot_ms;
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205 | packet.x = x;
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206 | packet.y = y;
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207 | packet.z = z;
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208 | packet.vx = vx;
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209 | packet.vy = vy;
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210 | packet.vz = vz;
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211 |
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212 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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213 | #endif
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214 | }
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215 |
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216 | /**
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217 | * @brief Send a local_position_ned message
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218 | * @param chan MAVLink channel to send the message
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219 | * @param struct The MAVLink struct to serialize
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220 | */
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221 | static inline void mavlink_msg_local_position_ned_send_struct(mavlink_channel_t chan, const mavlink_local_position_ned_t* local_position_ned)
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222 | {
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223 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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224 | mavlink_msg_local_position_ned_send(chan, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
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225 | #else
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226 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)local_position_ned, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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227 | #endif
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228 | }
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229 |
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230 | #if MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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231 | /*
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232 | This varient of _send() can be used to save stack space by re-using
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233 | memory from the receive buffer. The caller provides a
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234 | mavlink_message_t which is the size of a full mavlink message. This
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235 | is usually the receive buffer for the channel, and allows a reply to an
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236 | incoming message with minimum stack space usage.
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237 | */
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238 | static inline void mavlink_msg_local_position_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
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239 | {
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240 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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241 | char *buf = (char *)msgbuf;
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242 | _mav_put_uint32_t(buf, 0, time_boot_ms);
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243 | _mav_put_float(buf, 4, x);
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244 | _mav_put_float(buf, 8, y);
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245 | _mav_put_float(buf, 12, z);
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246 | _mav_put_float(buf, 16, vx);
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247 | _mav_put_float(buf, 20, vy);
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248 | _mav_put_float(buf, 24, vz);
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249 |
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250 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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251 | #else
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252 | mavlink_local_position_ned_t *packet = (mavlink_local_position_ned_t *)msgbuf;
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253 | packet->time_boot_ms = time_boot_ms;
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254 | packet->x = x;
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255 | packet->y = y;
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256 | packet->z = z;
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257 | packet->vx = vx;
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258 | packet->vy = vy;
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259 | packet->vz = vz;
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260 |
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261 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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262 | #endif
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263 | }
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264 | #endif
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265 |
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266 | #endif
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267 |
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268 | // MESSAGE LOCAL_POSITION_NED UNPACKING
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269 |
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270 |
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271 | /**
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272 | * @brief Get field time_boot_ms from local_position_ned message
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273 | *
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274 | * @return Timestamp (milliseconds since system boot)
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275 | */
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276 | static inline uint32_t mavlink_msg_local_position_ned_get_time_boot_ms(const mavlink_message_t* msg)
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277 | {
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278 | return _MAV_RETURN_uint32_t(msg, 0);
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279 | }
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280 |
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281 | /**
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282 | * @brief Get field x from local_position_ned message
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283 | *
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284 | * @return X Position
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285 | */
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286 | static inline float mavlink_msg_local_position_ned_get_x(const mavlink_message_t* msg)
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287 | {
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288 | return _MAV_RETURN_float(msg, 4);
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289 | }
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290 |
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291 | /**
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292 | * @brief Get field y from local_position_ned message
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293 | *
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294 | * @return Y Position
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295 | */
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296 | static inline float mavlink_msg_local_position_ned_get_y(const mavlink_message_t* msg)
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297 | {
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298 | return _MAV_RETURN_float(msg, 8);
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299 | }
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300 |
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301 | /**
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302 | * @brief Get field z from local_position_ned message
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303 | *
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304 | * @return Z Position
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305 | */
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306 | static inline float mavlink_msg_local_position_ned_get_z(const mavlink_message_t* msg)
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307 | {
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308 | return _MAV_RETURN_float(msg, 12);
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309 | }
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310 |
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311 | /**
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312 | * @brief Get field vx from local_position_ned message
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313 | *
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314 | * @return X Speed
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315 | */
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316 | static inline float mavlink_msg_local_position_ned_get_vx(const mavlink_message_t* msg)
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317 | {
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318 | return _MAV_RETURN_float(msg, 16);
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319 | }
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320 |
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321 | /**
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322 | * @brief Get field vy from local_position_ned message
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323 | *
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324 | * @return Y Speed
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325 | */
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326 | static inline float mavlink_msg_local_position_ned_get_vy(const mavlink_message_t* msg)
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327 | {
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328 | return _MAV_RETURN_float(msg, 20);
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329 | }
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330 |
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331 | /**
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332 | * @brief Get field vz from local_position_ned message
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333 | *
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334 | * @return Z Speed
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335 | */
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336 | static inline float mavlink_msg_local_position_ned_get_vz(const mavlink_message_t* msg)
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337 | {
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338 | return _MAV_RETURN_float(msg, 24);
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339 | }
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340 |
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341 | /**
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342 | * @brief Decode a local_position_ned message into a struct
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343 | *
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344 | * @param msg The message to decode
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345 | * @param local_position_ned C-struct to decode the message contents into
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346 | */
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347 | static inline void mavlink_msg_local_position_ned_decode(const mavlink_message_t* msg, mavlink_local_position_ned_t* local_position_ned)
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348 | {
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349 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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350 | local_position_ned->time_boot_ms = mavlink_msg_local_position_ned_get_time_boot_ms(msg);
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351 | local_position_ned->x = mavlink_msg_local_position_ned_get_x(msg);
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352 | local_position_ned->y = mavlink_msg_local_position_ned_get_y(msg);
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353 | local_position_ned->z = mavlink_msg_local_position_ned_get_z(msg);
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354 | local_position_ned->vx = mavlink_msg_local_position_ned_get_vx(msg);
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355 | local_position_ned->vy = mavlink_msg_local_position_ned_get_vy(msg);
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356 | local_position_ned->vz = mavlink_msg_local_position_ned_get_vz(msg);
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357 | #else
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358 | uint8_t len = msg->len < MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN? msg->len : MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN;
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359 | memset(local_position_ned, 0, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
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360 | memcpy(local_position_ned, _MAV_PAYLOAD(msg), len);
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361 | #endif
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362 | }
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