1 | // MESSAGE ATT_POS_MOCAP PACKING |
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2 | |
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3 | #define MAVLINK_MSG_ID_ATT_POS_MOCAP 138 |
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4 | |
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5 | MAVPACKED( |
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6 | typedef struct __mavlink_att_pos_mocap_t { |
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7 | uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/ |
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8 | float q[4]; /*< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/ |
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9 | float x; /*< X position in meters (NED)*/ |
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10 | float y; /*< Y position in meters (NED)*/ |
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11 | float z; /*< Z position in meters (NED)*/ |
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12 | }) mavlink_att_pos_mocap_t; |
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13 | |
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14 | #define MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN 36 |
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15 | #define MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN 36 |
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16 | #define MAVLINK_MSG_ID_138_LEN 36 |
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17 | #define MAVLINK_MSG_ID_138_MIN_LEN 36 |
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18 | |
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19 | #define MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC 109 |
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20 | #define MAVLINK_MSG_ID_138_CRC 109 |
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21 | |
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22 | #define MAVLINK_MSG_ATT_POS_MOCAP_FIELD_Q_LEN 4 |
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23 | |
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24 | #if MAVLINK_COMMAND_24BIT |
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25 | #define MAVLINK_MESSAGE_INFO_ATT_POS_MOCAP { \ |
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26 | 138, \ |
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27 | "ATT_POS_MOCAP", \ |
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28 | 5, \ |
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29 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_att_pos_mocap_t, time_usec) }, \ |
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30 | { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_att_pos_mocap_t, q) }, \ |
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31 | { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_att_pos_mocap_t, x) }, \ |
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32 | { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_att_pos_mocap_t, y) }, \ |
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33 | { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_att_pos_mocap_t, z) }, \ |
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34 | } \ |
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35 | } |
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36 | #else |
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37 | #define MAVLINK_MESSAGE_INFO_ATT_POS_MOCAP { \ |
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38 | "ATT_POS_MOCAP", \ |
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39 | 5, \ |
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40 | { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_att_pos_mocap_t, time_usec) }, \ |
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41 | { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_att_pos_mocap_t, q) }, \ |
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42 | { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_att_pos_mocap_t, x) }, \ |
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43 | { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_att_pos_mocap_t, y) }, \ |
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44 | { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_att_pos_mocap_t, z) }, \ |
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45 | } \ |
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46 | } |
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47 | #endif |
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48 | |
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49 | /** |
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50 | * @brief Pack a att_pos_mocap message |
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51 | * @param system_id ID of this system |
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52 | * @param component_id ID of this component (e.g. 200 for IMU) |
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53 | * @param msg The MAVLink message to compress the data into |
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54 | * |
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55 | * @param time_usec Timestamp (micros since boot or Unix epoch) |
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56 | * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) |
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57 | * @param x X position in meters (NED) |
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58 | * @param y Y position in meters (NED) |
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59 | * @param z Z position in meters (NED) |
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60 | * @return length of the message in bytes (excluding serial stream start sign) |
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61 | */ |
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62 | static inline uint16_t mavlink_msg_att_pos_mocap_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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63 | uint64_t time_usec, const float *q, float x, float y, float z) |
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64 | { |
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65 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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66 | char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN]; |
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67 | _mav_put_uint64_t(buf, 0, time_usec); |
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68 | _mav_put_float(buf, 24, x); |
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69 | _mav_put_float(buf, 28, y); |
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70 | _mav_put_float(buf, 32, z); |
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71 | _mav_put_float_array(buf, 8, q, 4); |
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72 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN); |
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73 | #else |
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74 | mavlink_att_pos_mocap_t packet; |
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75 | packet.time_usec = time_usec; |
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76 | packet.x = x; |
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77 | packet.y = y; |
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78 | packet.z = z; |
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79 | mav_array_memcpy(packet.q, q, sizeof(float)*4); |
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80 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN); |
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81 | #endif |
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82 | |
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83 | msg->msgid = MAVLINK_MSG_ID_ATT_POS_MOCAP; |
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84 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC); |
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85 | } |
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86 | |
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87 | /** |
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88 | * @brief Pack a att_pos_mocap message on a channel |
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89 | * @param system_id ID of this system |
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90 | * @param component_id ID of this component (e.g. 200 for IMU) |
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91 | * @param chan The MAVLink channel this message will be sent over |
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92 | * @param msg The MAVLink message to compress the data into |
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93 | * @param time_usec Timestamp (micros since boot or Unix epoch) |
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94 | * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) |
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95 | * @param x X position in meters (NED) |
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96 | * @param y Y position in meters (NED) |
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97 | * @param z Z position in meters (NED) |
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98 | * @return length of the message in bytes (excluding serial stream start sign) |
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99 | */ |
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100 | static inline uint16_t mavlink_msg_att_pos_mocap_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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101 | mavlink_message_t* msg, |
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102 | uint64_t time_usec,const float *q,float x,float y,float z) |
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103 | { |
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104 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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105 | char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN]; |
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106 | _mav_put_uint64_t(buf, 0, time_usec); |
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107 | _mav_put_float(buf, 24, x); |
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108 | _mav_put_float(buf, 28, y); |
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109 | _mav_put_float(buf, 32, z); |
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110 | _mav_put_float_array(buf, 8, q, 4); |
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111 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN); |
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112 | #else |
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113 | mavlink_att_pos_mocap_t packet; |
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114 | packet.time_usec = time_usec; |
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115 | packet.x = x; |
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116 | packet.y = y; |
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117 | packet.z = z; |
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118 | mav_array_memcpy(packet.q, q, sizeof(float)*4); |
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119 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN); |
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120 | #endif |
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121 | |
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122 | msg->msgid = MAVLINK_MSG_ID_ATT_POS_MOCAP; |
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123 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC); |
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124 | } |
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125 | |
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126 | /** |
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127 | * @brief Encode a att_pos_mocap struct |
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128 | * |
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129 | * @param system_id ID of this system |
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130 | * @param component_id ID of this component (e.g. 200 for IMU) |
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131 | * @param msg The MAVLink message to compress the data into |
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132 | * @param att_pos_mocap C-struct to read the message contents from |
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133 | */ |
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134 | static inline uint16_t mavlink_msg_att_pos_mocap_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_att_pos_mocap_t* att_pos_mocap) |
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135 | { |
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136 | return mavlink_msg_att_pos_mocap_pack(system_id, component_id, msg, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z); |
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137 | } |
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138 | |
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139 | /** |
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140 | * @brief Encode a att_pos_mocap struct on a channel |
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141 | * |
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142 | * @param system_id ID of this system |
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143 | * @param component_id ID of this component (e.g. 200 for IMU) |
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144 | * @param chan The MAVLink channel this message will be sent over |
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145 | * @param msg The MAVLink message to compress the data into |
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146 | * @param att_pos_mocap C-struct to read the message contents from |
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147 | */ |
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148 | static inline uint16_t mavlink_msg_att_pos_mocap_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_att_pos_mocap_t* att_pos_mocap) |
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149 | { |
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150 | return mavlink_msg_att_pos_mocap_pack_chan(system_id, component_id, chan, msg, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z); |
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151 | } |
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152 | |
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153 | /** |
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154 | * @brief Send a att_pos_mocap message |
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155 | * @param chan MAVLink channel to send the message |
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156 | * |
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157 | * @param time_usec Timestamp (micros since boot or Unix epoch) |
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158 | * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) |
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159 | * @param x X position in meters (NED) |
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160 | * @param y Y position in meters (NED) |
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161 | * @param z Z position in meters (NED) |
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162 | */ |
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163 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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164 | |
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165 | static inline void mavlink_msg_att_pos_mocap_send(mavlink_channel_t chan, uint64_t time_usec, const float *q, float x, float y, float z) |
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166 | { |
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167 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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168 | char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN]; |
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169 | _mav_put_uint64_t(buf, 0, time_usec); |
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170 | _mav_put_float(buf, 24, x); |
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171 | _mav_put_float(buf, 28, y); |
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172 | _mav_put_float(buf, 32, z); |
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173 | _mav_put_float_array(buf, 8, q, 4); |
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174 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC); |
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175 | #else |
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176 | mavlink_att_pos_mocap_t packet; |
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177 | packet.time_usec = time_usec; |
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178 | packet.x = x; |
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179 | packet.y = y; |
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180 | packet.z = z; |
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181 | mav_array_memcpy(packet.q, q, sizeof(float)*4); |
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182 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)&packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC); |
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183 | #endif |
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184 | } |
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185 | |
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186 | /** |
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187 | * @brief Send a att_pos_mocap message |
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188 | * @param chan MAVLink channel to send the message |
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189 | * @param struct The MAVLink struct to serialize |
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190 | */ |
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191 | static inline void mavlink_msg_att_pos_mocap_send_struct(mavlink_channel_t chan, const mavlink_att_pos_mocap_t* att_pos_mocap) |
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192 | { |
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193 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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194 | mavlink_msg_att_pos_mocap_send(chan, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z); |
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195 | #else |
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196 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)att_pos_mocap, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC); |
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197 | #endif |
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198 | } |
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199 | |
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200 | #if MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN <= MAVLINK_MAX_PAYLOAD_LEN |
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201 | /* |
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202 | This varient of _send() can be used to save stack space by re-using |
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203 | memory from the receive buffer. The caller provides a |
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204 | mavlink_message_t which is the size of a full mavlink message. This |
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205 | is usually the receive buffer for the channel, and allows a reply to an |
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206 | incoming message with minimum stack space usage. |
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207 | */ |
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208 | static inline void mavlink_msg_att_pos_mocap_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *q, float x, float y, float z) |
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209 | { |
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210 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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211 | char *buf = (char *)msgbuf; |
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212 | _mav_put_uint64_t(buf, 0, time_usec); |
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213 | _mav_put_float(buf, 24, x); |
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214 | _mav_put_float(buf, 28, y); |
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215 | _mav_put_float(buf, 32, z); |
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216 | _mav_put_float_array(buf, 8, q, 4); |
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217 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC); |
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218 | #else |
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219 | mavlink_att_pos_mocap_t *packet = (mavlink_att_pos_mocap_t *)msgbuf; |
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220 | packet->time_usec = time_usec; |
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221 | packet->x = x; |
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222 | packet->y = y; |
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223 | packet->z = z; |
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224 | mav_array_memcpy(packet->q, q, sizeof(float)*4); |
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225 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC); |
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226 | #endif |
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227 | } |
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228 | #endif |
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229 | |
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230 | #endif |
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231 | |
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232 | // MESSAGE ATT_POS_MOCAP UNPACKING |
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233 | |
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234 | |
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235 | /** |
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236 | * @brief Get field time_usec from att_pos_mocap message |
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237 | * |
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238 | * @return Timestamp (micros since boot or Unix epoch) |
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239 | */ |
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240 | static inline uint64_t mavlink_msg_att_pos_mocap_get_time_usec(const mavlink_message_t* msg) |
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241 | { |
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242 | return _MAV_RETURN_uint64_t(msg, 0); |
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243 | } |
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244 | |
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245 | /** |
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246 | * @brief Get field q from att_pos_mocap message |
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247 | * |
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248 | * @return Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0) |
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249 | */ |
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250 | static inline uint16_t mavlink_msg_att_pos_mocap_get_q(const mavlink_message_t* msg, float *q) |
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251 | { |
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252 | return _MAV_RETURN_float_array(msg, q, 4, 8); |
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253 | } |
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254 | |
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255 | /** |
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256 | * @brief Get field x from att_pos_mocap message |
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257 | * |
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258 | * @return X position in meters (NED) |
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259 | */ |
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260 | static inline float mavlink_msg_att_pos_mocap_get_x(const mavlink_message_t* msg) |
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261 | { |
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262 | return _MAV_RETURN_float(msg, 24); |
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263 | } |
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264 | |
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265 | /** |
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266 | * @brief Get field y from att_pos_mocap message |
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267 | * |
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268 | * @return Y position in meters (NED) |
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269 | */ |
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270 | static inline float mavlink_msg_att_pos_mocap_get_y(const mavlink_message_t* msg) |
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271 | { |
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272 | return _MAV_RETURN_float(msg, 28); |
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273 | } |
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274 | |
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275 | /** |
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276 | * @brief Get field z from att_pos_mocap message |
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277 | * |
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278 | * @return Z position in meters (NED) |
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279 | */ |
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280 | static inline float mavlink_msg_att_pos_mocap_get_z(const mavlink_message_t* msg) |
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281 | { |
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282 | return _MAV_RETURN_float(msg, 32); |
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283 | } |
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284 | |
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285 | /** |
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286 | * @brief Decode a att_pos_mocap message into a struct |
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287 | * |
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288 | * @param msg The message to decode |
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289 | * @param att_pos_mocap C-struct to decode the message contents into |
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290 | */ |
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291 | static inline void mavlink_msg_att_pos_mocap_decode(const mavlink_message_t* msg, mavlink_att_pos_mocap_t* att_pos_mocap) |
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292 | { |
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293 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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294 | att_pos_mocap->time_usec = mavlink_msg_att_pos_mocap_get_time_usec(msg); |
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295 | mavlink_msg_att_pos_mocap_get_q(msg, att_pos_mocap->q); |
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296 | att_pos_mocap->x = mavlink_msg_att_pos_mocap_get_x(msg); |
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297 | att_pos_mocap->y = mavlink_msg_att_pos_mocap_get_y(msg); |
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298 | att_pos_mocap->z = mavlink_msg_att_pos_mocap_get_z(msg); |
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299 | #else |
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300 | uint8_t len = msg->len < MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN? msg->len : MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN; |
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301 | memset(att_pos_mocap, 0, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN); |
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302 | memcpy(att_pos_mocap, _MAV_PAYLOAD(msg), len); |
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303 | #endif |
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304 | } |
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