// MESSAGE LOCAL_POSITION_NED PACKING #define MAVLINK_MSG_ID_LOCAL_POSITION_NED 32 typedef struct MAVLINK_PACKED __mavlink_local_position_ned_t { uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/ float x; /*< X Position*/ float y; /*< Y Position*/ float z; /*< Z Position*/ float vx; /*< X Speed*/ float vy; /*< Y Speed*/ float vz; /*< Z Speed*/ } mavlink_local_position_ned_t; #define MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN 28 #define MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN 28 #define MAVLINK_MSG_ID_32_LEN 28 #define MAVLINK_MSG_ID_32_MIN_LEN 28 #define MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC 185 #define MAVLINK_MSG_ID_32_CRC 185 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \ 32, \ "LOCAL_POSITION_NED", \ 7, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \ { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \ { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \ { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \ "LOCAL_POSITION_NED", \ 7, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \ { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \ { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \ { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \ } \ } #endif /** * @brief Pack a local_position_ned 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_boot_ms Timestamp (milliseconds since system boot) * @param x X Position * @param y Y Position * @param z Z Position * @param vx X Speed * @param vy Y Speed * @param vz Z Speed * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, vx); _mav_put_float(buf, 20, vy); _mav_put_float(buf, 24, vz); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); #else mavlink_local_position_ned_t packet; packet.time_boot_ms = time_boot_ms; packet.x = x; packet.y = y; packet.z = z; packet.vx = vx; packet.vy = vy; packet.vz = vz; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); #endif msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED; 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); } /** * @brief Pack a local_position_ned 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_boot_ms Timestamp (milliseconds since system boot) * @param x X Position * @param y Y Position * @param z Z Position * @param vx X Speed * @param vy Y Speed * @param vz Z Speed * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_boot_ms,float x,float y,float z,float vx,float vy,float vz) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, vx); _mav_put_float(buf, 20, vy); _mav_put_float(buf, 24, vz); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); #else mavlink_local_position_ned_t packet; packet.time_boot_ms = time_boot_ms; packet.x = x; packet.y = y; packet.z = z; packet.vx = vx; packet.vy = vy; packet.vz = vz; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); #endif msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED; 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); } /** * @brief Encode a local_position_ned 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 local_position_ned C-struct to read the message contents from */ 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) { 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); } /** * @brief Encode a local_position_ned 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 local_position_ned C-struct to read the message contents from */ 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) { 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); } /** * @brief Send a local_position_ned message * @param chan MAVLink channel to send the message * * @param time_boot_ms Timestamp (milliseconds since system boot) * @param x X Position * @param y Y Position * @param z Z Position * @param vx X Speed * @param vy Y Speed * @param vz Z Speed */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS 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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, vx); _mav_put_float(buf, 20, vy); _mav_put_float(buf, 24, vz); _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); #else mavlink_local_position_ned_t packet; packet.time_boot_ms = time_boot_ms; packet.x = x; packet.y = y; packet.z = z; packet.vx = vx; packet.vy = vy; packet.vz = vz; _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); #endif } /** * @brief Send a local_position_ned message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_local_position_ned_send_struct(mavlink_channel_t chan, const mavlink_local_position_ned_t* local_position_ned) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS 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); #else _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); #endif } #if MAVLINK_MSG_ID_LOCAL_POSITION_NED_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_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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, vx); _mav_put_float(buf, 20, vy); _mav_put_float(buf, 24, vz); _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); #else mavlink_local_position_ned_t *packet = (mavlink_local_position_ned_t *)msgbuf; packet->time_boot_ms = time_boot_ms; packet->x = x; packet->y = y; packet->z = z; packet->vx = vx; packet->vy = vy; packet->vz = vz; _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); #endif } #endif #endif // MESSAGE LOCAL_POSITION_NED UNPACKING /** * @brief Get field time_boot_ms from local_position_ned message * * @return Timestamp (milliseconds since system boot) */ static inline uint32_t mavlink_msg_local_position_ned_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field x from local_position_ned message * * @return X Position */ static inline float mavlink_msg_local_position_ned_get_x(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field y from local_position_ned message * * @return Y Position */ static inline float mavlink_msg_local_position_ned_get_y(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field z from local_position_ned message * * @return Z Position */ static inline float mavlink_msg_local_position_ned_get_z(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field vx from local_position_ned message * * @return X Speed */ static inline float mavlink_msg_local_position_ned_get_vx(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field vy from local_position_ned message * * @return Y Speed */ static inline float mavlink_msg_local_position_ned_get_vy(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field vz from local_position_ned message * * @return Z Speed */ static inline float mavlink_msg_local_position_ned_get_vz(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Decode a local_position_ned message into a struct * * @param msg The message to decode * @param local_position_ned C-struct to decode the message contents into */ static inline void mavlink_msg_local_position_ned_decode(const mavlink_message_t* msg, mavlink_local_position_ned_t* local_position_ned) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS local_position_ned->time_boot_ms = mavlink_msg_local_position_ned_get_time_boot_ms(msg); local_position_ned->x = mavlink_msg_local_position_ned_get_x(msg); local_position_ned->y = mavlink_msg_local_position_ned_get_y(msg); local_position_ned->z = mavlink_msg_local_position_ned_get_z(msg); local_position_ned->vx = mavlink_msg_local_position_ned_get_vx(msg); local_position_ned->vy = mavlink_msg_local_position_ned_get_vy(msg); local_position_ned->vz = mavlink_msg_local_position_ned_get_vz(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN? msg->len : MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN; memset(local_position_ned, 0, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); memcpy(local_position_ned, _MAV_PAYLOAD(msg), len); #endif }