source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/include/common/mavlink_msg_local_position_ned_cov.h@ 76

Last change on this file since 76 was 75, checked in by Thomas Fuhrmann, 8 years ago

Change the version of mavlink generated messages and rename it to include
File size: 22.5 KB
Line 
1// MESSAGE LOCAL_POSITION_NED_COV PACKING
2
3#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV 64
4
5typedef struct MAVLINK_PACKED __mavlink_local_position_ned_cov_t
6{
7 uint64_t time_utc; /*< Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.*/
8 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot). 0 for system without monotonic timestamp*/
9 float x; /*< X Position*/
10 float y; /*< Y Position*/
11 float z; /*< Z Position*/
12 float vx; /*< X Speed (m/s)*/
13 float vy; /*< Y Speed (m/s)*/
14 float vz; /*< Z Speed (m/s)*/
15 float ax; /*< X Acceleration (m/s^2)*/
16 float ay; /*< Y Acceleration (m/s^2)*/
17 float az; /*< Z Acceleration (m/s^2)*/
18 float covariance[45]; /*< Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.)*/
19 uint8_t estimator_type; /*< Class id of the estimator this estimate originated from.*/
20} mavlink_local_position_ned_cov_t;
21
22#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN 229
23#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN 229
24#define MAVLINK_MSG_ID_64_LEN 229
25#define MAVLINK_MSG_ID_64_MIN_LEN 229
26
27#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC 59
28#define MAVLINK_MSG_ID_64_CRC 59
29
30#define MAVLINK_MSG_LOCAL_POSITION_NED_COV_FIELD_COVARIANCE_LEN 45
31
32#if MAVLINK_COMMAND_24BIT
33#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_COV { \
34 64, \
35 "LOCAL_POSITION_NED_COV", \
36 13, \
37 { { "time_utc", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_ned_cov_t, time_utc) }, \
38 { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_local_position_ned_cov_t, time_boot_ms) }, \
39 { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_cov_t, x) }, \
40 { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_cov_t, y) }, \
41 { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_cov_t, z) }, \
42 { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_cov_t, vx) }, \
43 { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_ned_cov_t, vy) }, \
44 { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_local_position_ned_cov_t, vz) }, \
45 { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_local_position_ned_cov_t, ax) }, \
46 { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_local_position_ned_cov_t, ay) }, \
47 { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_local_position_ned_cov_t, az) }, \
48 { "covariance", NULL, MAVLINK_TYPE_FLOAT, 45, 48, offsetof(mavlink_local_position_ned_cov_t, covariance) }, \
49 { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 228, offsetof(mavlink_local_position_ned_cov_t, estimator_type) }, \
50 } \
51}
52#else
53#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_COV { \
54 "LOCAL_POSITION_NED_COV", \
55 13, \
56 { { "time_utc", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_ned_cov_t, time_utc) }, \
57 { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_local_position_ned_cov_t, time_boot_ms) }, \
58 { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_cov_t, x) }, \
59 { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_cov_t, y) }, \
60 { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_cov_t, z) }, \
61 { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_cov_t, vx) }, \
62 { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_ned_cov_t, vy) }, \
63 { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_local_position_ned_cov_t, vz) }, \
64 { "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_local_position_ned_cov_t, ax) }, \
65 { "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_local_position_ned_cov_t, ay) }, \
66 { "az", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_local_position_ned_cov_t, az) }, \
67 { "covariance", NULL, MAVLINK_TYPE_FLOAT, 45, 48, offsetof(mavlink_local_position_ned_cov_t, covariance) }, \
68 { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 228, offsetof(mavlink_local_position_ned_cov_t, estimator_type) }, \
69 } \
70}
71#endif
72
73/**
74 * @brief Pack a local_position_ned_cov message
75 * @param system_id ID of this system
76 * @param component_id ID of this component (e.g. 200 for IMU)
77 * @param msg The MAVLink message to compress the data into
78 *
79 * @param time_boot_ms Timestamp (milliseconds since system boot). 0 for system without monotonic timestamp
80 * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
81 * @param estimator_type Class id of the estimator this estimate originated from.
82 * @param x X Position
83 * @param y Y Position
84 * @param z Z Position
85 * @param vx X Speed (m/s)
86 * @param vy Y Speed (m/s)
87 * @param vz Z Speed (m/s)
88 * @param ax X Acceleration (m/s^2)
89 * @param ay Y Acceleration (m/s^2)
90 * @param az Z Acceleration (m/s^2)
91 * @param covariance Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.)
92 * @return length of the message in bytes (excluding serial stream start sign)
93 */
94static inline uint16_t mavlink_msg_local_position_ned_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
95 uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, const float *covariance)
96{
97#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
98 char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN];
99 _mav_put_uint64_t(buf, 0, time_utc);
100 _mav_put_uint32_t(buf, 8, time_boot_ms);
101 _mav_put_float(buf, 12, x);
102 _mav_put_float(buf, 16, y);
103 _mav_put_float(buf, 20, z);
104 _mav_put_float(buf, 24, vx);
105 _mav_put_float(buf, 28, vy);
106 _mav_put_float(buf, 32, vz);
107 _mav_put_float(buf, 36, ax);
108 _mav_put_float(buf, 40, ay);
109 _mav_put_float(buf, 44, az);
110 _mav_put_uint8_t(buf, 228, estimator_type);
111 _mav_put_float_array(buf, 48, covariance, 45);
112 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
113#else
114 mavlink_local_position_ned_cov_t packet;
115 packet.time_utc = time_utc;
116 packet.time_boot_ms = time_boot_ms;
117 packet.x = x;
118 packet.y = y;
119 packet.z = z;
120 packet.vx = vx;
121 packet.vy = vy;
122 packet.vz = vz;
123 packet.ax = ax;
124 packet.ay = ay;
125 packet.az = az;
126 packet.estimator_type = estimator_type;
127 mav_array_memcpy(packet.covariance, covariance, sizeof(float)*45);
128 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
129#endif
130
131 msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
132 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
133}
134
135/**
136 * @brief Pack a local_position_ned_cov message on a channel
137 * @param system_id ID of this system
138 * @param component_id ID of this component (e.g. 200 for IMU)
139 * @param chan The MAVLink channel this message will be sent over
140 * @param msg The MAVLink message to compress the data into
141 * @param time_boot_ms Timestamp (milliseconds since system boot). 0 for system without monotonic timestamp
142 * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
143 * @param estimator_type Class id of the estimator this estimate originated from.
144 * @param x X Position
145 * @param y Y Position
146 * @param z Z Position
147 * @param vx X Speed (m/s)
148 * @param vy Y Speed (m/s)
149 * @param vz Z Speed (m/s)
150 * @param ax X Acceleration (m/s^2)
151 * @param ay Y Acceleration (m/s^2)
152 * @param az Z Acceleration (m/s^2)
153 * @param covariance Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.)
154 * @return length of the message in bytes (excluding serial stream start sign)
155 */
156static inline uint16_t mavlink_msg_local_position_ned_cov_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
157 mavlink_message_t* msg,
158 uint32_t time_boot_ms,uint64_t time_utc,uint8_t estimator_type,float x,float y,float z,float vx,float vy,float vz,float ax,float ay,float az,const float *covariance)
159{
160#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
161 char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN];
162 _mav_put_uint64_t(buf, 0, time_utc);
163 _mav_put_uint32_t(buf, 8, time_boot_ms);
164 _mav_put_float(buf, 12, x);
165 _mav_put_float(buf, 16, y);
166 _mav_put_float(buf, 20, z);
167 _mav_put_float(buf, 24, vx);
168 _mav_put_float(buf, 28, vy);
169 _mav_put_float(buf, 32, vz);
170 _mav_put_float(buf, 36, ax);
171 _mav_put_float(buf, 40, ay);
172 _mav_put_float(buf, 44, az);
173 _mav_put_uint8_t(buf, 228, estimator_type);
174 _mav_put_float_array(buf, 48, covariance, 45);
175 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
176#else
177 mavlink_local_position_ned_cov_t packet;
178 packet.time_utc = time_utc;
179 packet.time_boot_ms = time_boot_ms;
180 packet.x = x;
181 packet.y = y;
182 packet.z = z;
183 packet.vx = vx;
184 packet.vy = vy;
185 packet.vz = vz;
186 packet.ax = ax;
187 packet.ay = ay;
188 packet.az = az;
189 packet.estimator_type = estimator_type;
190 mav_array_memcpy(packet.covariance, covariance, sizeof(float)*45);
191 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
192#endif
193
194 msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
195 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
196}
197
198/**
199 * @brief Encode a local_position_ned_cov struct
200 *
201 * @param system_id ID of this system
202 * @param component_id ID of this component (e.g. 200 for IMU)
203 * @param msg The MAVLink message to compress the data into
204 * @param local_position_ned_cov C-struct to read the message contents from
205 */
206static inline uint16_t mavlink_msg_local_position_ned_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_cov_t* local_position_ned_cov)
207{
208 return mavlink_msg_local_position_ned_cov_pack(system_id, component_id, msg, local_position_ned_cov->time_boot_ms, local_position_ned_cov->time_utc, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->ax, local_position_ned_cov->ay, local_position_ned_cov->az, local_position_ned_cov->covariance);
209}
210
211/**
212 * @brief Encode a local_position_ned_cov struct on a channel
213 *
214 * @param system_id ID of this system
215 * @param component_id ID of this component (e.g. 200 for IMU)
216 * @param chan The MAVLink channel this message will be sent over
217 * @param msg The MAVLink message to compress the data into
218 * @param local_position_ned_cov C-struct to read the message contents from
219 */
220static inline uint16_t mavlink_msg_local_position_ned_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_cov_t* local_position_ned_cov)
221{
222 return mavlink_msg_local_position_ned_cov_pack_chan(system_id, component_id, chan, msg, local_position_ned_cov->time_boot_ms, local_position_ned_cov->time_utc, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->ax, local_position_ned_cov->ay, local_position_ned_cov->az, local_position_ned_cov->covariance);
223}
224
225/**
226 * @brief Send a local_position_ned_cov message
227 * @param chan MAVLink channel to send the message
228 *
229 * @param time_boot_ms Timestamp (milliseconds since system boot). 0 for system without monotonic timestamp
230 * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
231 * @param estimator_type Class id of the estimator this estimate originated from.
232 * @param x X Position
233 * @param y Y Position
234 * @param z Z Position
235 * @param vx X Speed (m/s)
236 * @param vy Y Speed (m/s)
237 * @param vz Z Speed (m/s)
238 * @param ax X Acceleration (m/s^2)
239 * @param ay Y Acceleration (m/s^2)
240 * @param az Z Acceleration (m/s^2)
241 * @param covariance Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.)
242 */
243#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
244
245static inline void mavlink_msg_local_position_ned_cov_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, const float *covariance)
246{
247#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
248 char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN];
249 _mav_put_uint64_t(buf, 0, time_utc);
250 _mav_put_uint32_t(buf, 8, time_boot_ms);
251 _mav_put_float(buf, 12, x);
252 _mav_put_float(buf, 16, y);
253 _mav_put_float(buf, 20, z);
254 _mav_put_float(buf, 24, vx);
255 _mav_put_float(buf, 28, vy);
256 _mav_put_float(buf, 32, vz);
257 _mav_put_float(buf, 36, ax);
258 _mav_put_float(buf, 40, ay);
259 _mav_put_float(buf, 44, az);
260 _mav_put_uint8_t(buf, 228, estimator_type);
261 _mav_put_float_array(buf, 48, covariance, 45);
262 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
263#else
264 mavlink_local_position_ned_cov_t packet;
265 packet.time_utc = time_utc;
266 packet.time_boot_ms = time_boot_ms;
267 packet.x = x;
268 packet.y = y;
269 packet.z = z;
270 packet.vx = vx;
271 packet.vy = vy;
272 packet.vz = vz;
273 packet.ax = ax;
274 packet.ay = ay;
275 packet.az = az;
276 packet.estimator_type = estimator_type;
277 mav_array_memcpy(packet.covariance, covariance, sizeof(float)*45);
278 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
279#endif
280}
281
282/**
283 * @brief Send a local_position_ned_cov message
284 * @param chan MAVLink channel to send the message
285 * @param struct The MAVLink struct to serialize
286 */
287static inline void mavlink_msg_local_position_ned_cov_send_struct(mavlink_channel_t chan, const mavlink_local_position_ned_cov_t* local_position_ned_cov)
288{
289#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
290 mavlink_msg_local_position_ned_cov_send(chan, local_position_ned_cov->time_boot_ms, local_position_ned_cov->time_utc, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->ax, local_position_ned_cov->ay, local_position_ned_cov->az, local_position_ned_cov->covariance);
291#else
292 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)local_position_ned_cov, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
293#endif
294}
295
296#if MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN <= MAVLINK_MAX_PAYLOAD_LEN
297/*
298 This varient of _send() can be used to save stack space by re-using
299 memory from the receive buffer. The caller provides a
300 mavlink_message_t which is the size of a full mavlink message. This
301 is usually the receive buffer for the channel, and allows a reply to an
302 incoming message with minimum stack space usage.
303 */
304static inline void mavlink_msg_local_position_ned_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, const float *covariance)
305{
306#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
307 char *buf = (char *)msgbuf;
308 _mav_put_uint64_t(buf, 0, time_utc);
309 _mav_put_uint32_t(buf, 8, time_boot_ms);
310 _mav_put_float(buf, 12, x);
311 _mav_put_float(buf, 16, y);
312 _mav_put_float(buf, 20, z);
313 _mav_put_float(buf, 24, vx);
314 _mav_put_float(buf, 28, vy);
315 _mav_put_float(buf, 32, vz);
316 _mav_put_float(buf, 36, ax);
317 _mav_put_float(buf, 40, ay);
318 _mav_put_float(buf, 44, az);
319 _mav_put_uint8_t(buf, 228, estimator_type);
320 _mav_put_float_array(buf, 48, covariance, 45);
321 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
322#else
323 mavlink_local_position_ned_cov_t *packet = (mavlink_local_position_ned_cov_t *)msgbuf;
324 packet->time_utc = time_utc;
325 packet->time_boot_ms = time_boot_ms;
326 packet->x = x;
327 packet->y = y;
328 packet->z = z;
329 packet->vx = vx;
330 packet->vy = vy;
331 packet->vz = vz;
332 packet->ax = ax;
333 packet->ay = ay;
334 packet->az = az;
335 packet->estimator_type = estimator_type;
336 mav_array_memcpy(packet->covariance, covariance, sizeof(float)*45);
337 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
338#endif
339}
340#endif
341
342#endif
343
344// MESSAGE LOCAL_POSITION_NED_COV UNPACKING
345
346
347/**
348 * @brief Get field time_boot_ms from local_position_ned_cov message
349 *
350 * @return Timestamp (milliseconds since system boot). 0 for system without monotonic timestamp
351 */
352static inline uint32_t mavlink_msg_local_position_ned_cov_get_time_boot_ms(const mavlink_message_t* msg)
353{
354 return _MAV_RETURN_uint32_t(msg, 8);
355}
356
357/**
358 * @brief Get field time_utc from local_position_ned_cov message
359 *
360 * @return Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
361 */
362static inline uint64_t mavlink_msg_local_position_ned_cov_get_time_utc(const mavlink_message_t* msg)
363{
364 return _MAV_RETURN_uint64_t(msg, 0);
365}
366
367/**
368 * @brief Get field estimator_type from local_position_ned_cov message
369 *
370 * @return Class id of the estimator this estimate originated from.
371 */
372static inline uint8_t mavlink_msg_local_position_ned_cov_get_estimator_type(const mavlink_message_t* msg)
373{
374 return _MAV_RETURN_uint8_t(msg, 228);
375}
376
377/**
378 * @brief Get field x from local_position_ned_cov message
379 *
380 * @return X Position
381 */
382static inline float mavlink_msg_local_position_ned_cov_get_x(const mavlink_message_t* msg)
383{
384 return _MAV_RETURN_float(msg, 12);
385}
386
387/**
388 * @brief Get field y from local_position_ned_cov message
389 *
390 * @return Y Position
391 */
392static inline float mavlink_msg_local_position_ned_cov_get_y(const mavlink_message_t* msg)
393{
394 return _MAV_RETURN_float(msg, 16);
395}
396
397/**
398 * @brief Get field z from local_position_ned_cov message
399 *
400 * @return Z Position
401 */
402static inline float mavlink_msg_local_position_ned_cov_get_z(const mavlink_message_t* msg)
403{
404 return _MAV_RETURN_float(msg, 20);
405}
406
407/**
408 * @brief Get field vx from local_position_ned_cov message
409 *
410 * @return X Speed (m/s)
411 */
412static inline float mavlink_msg_local_position_ned_cov_get_vx(const mavlink_message_t* msg)
413{
414 return _MAV_RETURN_float(msg, 24);
415}
416
417/**
418 * @brief Get field vy from local_position_ned_cov message
419 *
420 * @return Y Speed (m/s)
421 */
422static inline float mavlink_msg_local_position_ned_cov_get_vy(const mavlink_message_t* msg)
423{
424 return _MAV_RETURN_float(msg, 28);
425}
426
427/**
428 * @brief Get field vz from local_position_ned_cov message
429 *
430 * @return Z Speed (m/s)
431 */
432static inline float mavlink_msg_local_position_ned_cov_get_vz(const mavlink_message_t* msg)
433{
434 return _MAV_RETURN_float(msg, 32);
435}
436
437/**
438 * @brief Get field ax from local_position_ned_cov message
439 *
440 * @return X Acceleration (m/s^2)
441 */
442static inline float mavlink_msg_local_position_ned_cov_get_ax(const mavlink_message_t* msg)
443{
444 return _MAV_RETURN_float(msg, 36);
445}
446
447/**
448 * @brief Get field ay from local_position_ned_cov message
449 *
450 * @return Y Acceleration (m/s^2)
451 */
452static inline float mavlink_msg_local_position_ned_cov_get_ay(const mavlink_message_t* msg)
453{
454 return _MAV_RETURN_float(msg, 40);
455}
456
457/**
458 * @brief Get field az from local_position_ned_cov message
459 *
460 * @return Z Acceleration (m/s^2)
461 */
462static inline float mavlink_msg_local_position_ned_cov_get_az(const mavlink_message_t* msg)
463{
464 return _MAV_RETURN_float(msg, 44);
465}
466
467/**
468 * @brief Get field covariance from local_position_ned_cov message
469 *
470 * @return Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.)
471 */
472static inline uint16_t mavlink_msg_local_position_ned_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
473{
474 return _MAV_RETURN_float_array(msg, covariance, 45, 48);
475}
476
477/**
478 * @brief Decode a local_position_ned_cov message into a struct
479 *
480 * @param msg The message to decode
481 * @param local_position_ned_cov C-struct to decode the message contents into
482 */
483static inline void mavlink_msg_local_position_ned_cov_decode(const mavlink_message_t* msg, mavlink_local_position_ned_cov_t* local_position_ned_cov)
484{
485#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
486 local_position_ned_cov->time_utc = mavlink_msg_local_position_ned_cov_get_time_utc(msg);
487 local_position_ned_cov->time_boot_ms = mavlink_msg_local_position_ned_cov_get_time_boot_ms(msg);
488 local_position_ned_cov->x = mavlink_msg_local_position_ned_cov_get_x(msg);
489 local_position_ned_cov->y = mavlink_msg_local_position_ned_cov_get_y(msg);
490 local_position_ned_cov->z = mavlink_msg_local_position_ned_cov_get_z(msg);
491 local_position_ned_cov->vx = mavlink_msg_local_position_ned_cov_get_vx(msg);
492 local_position_ned_cov->vy = mavlink_msg_local_position_ned_cov_get_vy(msg);
493 local_position_ned_cov->vz = mavlink_msg_local_position_ned_cov_get_vz(msg);
494 local_position_ned_cov->ax = mavlink_msg_local_position_ned_cov_get_ax(msg);
495 local_position_ned_cov->ay = mavlink_msg_local_position_ned_cov_get_ay(msg);
496 local_position_ned_cov->az = mavlink_msg_local_position_ned_cov_get_az(msg);
497 mavlink_msg_local_position_ned_cov_get_covariance(msg, local_position_ned_cov->covariance);
498 local_position_ned_cov->estimator_type = mavlink_msg_local_position_ned_cov_get_estimator_type(msg);
499#else
500 uint8_t len = msg->len < MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN? msg->len : MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN;
501 memset(local_position_ned_cov, 0, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
502 memcpy(local_position_ned_cov, _MAV_PAYLOAD(msg), len);
503#endif
504}
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