1 | // MESSAGE FOLLOW_TARGET PACKING |
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2 | |
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3 | #define MAVLINK_MSG_ID_FOLLOW_TARGET 144 |
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4 | |
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5 | MAVPACKED( |
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6 | typedef struct __mavlink_follow_target_t { |
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7 | uint64_t timestamp; /*< Timestamp in milliseconds since system boot*/ |
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8 | uint64_t custom_state; /*< button states or switches of a tracker device*/ |
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9 | int32_t lat; /*< Latitude (WGS84), in degrees * 1E7*/ |
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10 | int32_t lon; /*< Longitude (WGS84), in degrees * 1E7*/ |
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11 | float alt; /*< AMSL, in meters*/ |
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12 | float vel[3]; /*< target velocity (0,0,0) for unknown*/ |
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13 | float acc[3]; /*< linear target acceleration (0,0,0) for unknown*/ |
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14 | float attitude_q[4]; /*< (1 0 0 0 for unknown)*/ |
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15 | float rates[3]; /*< (0 0 0 for unknown)*/ |
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16 | float position_cov[3]; /*< eph epv*/ |
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17 | uint8_t est_capabilities; /*< bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)*/ |
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18 | }) mavlink_follow_target_t; |
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19 | |
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20 | #define MAVLINK_MSG_ID_FOLLOW_TARGET_LEN 93 |
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21 | #define MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN 93 |
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22 | #define MAVLINK_MSG_ID_144_LEN 93 |
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23 | #define MAVLINK_MSG_ID_144_MIN_LEN 93 |
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24 | |
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25 | #define MAVLINK_MSG_ID_FOLLOW_TARGET_CRC 127 |
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26 | #define MAVLINK_MSG_ID_144_CRC 127 |
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27 | |
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28 | #define MAVLINK_MSG_FOLLOW_TARGET_FIELD_VEL_LEN 3 |
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29 | #define MAVLINK_MSG_FOLLOW_TARGET_FIELD_ACC_LEN 3 |
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30 | #define MAVLINK_MSG_FOLLOW_TARGET_FIELD_ATTITUDE_Q_LEN 4 |
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31 | #define MAVLINK_MSG_FOLLOW_TARGET_FIELD_RATES_LEN 3 |
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32 | #define MAVLINK_MSG_FOLLOW_TARGET_FIELD_POSITION_COV_LEN 3 |
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33 | |
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34 | #if MAVLINK_COMMAND_24BIT |
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35 | #define MAVLINK_MESSAGE_INFO_FOLLOW_TARGET { \ |
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36 | 144, \ |
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37 | "FOLLOW_TARGET", \ |
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38 | 11, \ |
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39 | { { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_follow_target_t, timestamp) }, \ |
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40 | { "custom_state", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_follow_target_t, custom_state) }, \ |
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41 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_follow_target_t, lat) }, \ |
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42 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_follow_target_t, lon) }, \ |
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43 | { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_follow_target_t, alt) }, \ |
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44 | { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_follow_target_t, vel) }, \ |
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45 | { "acc", NULL, MAVLINK_TYPE_FLOAT, 3, 40, offsetof(mavlink_follow_target_t, acc) }, \ |
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46 | { "attitude_q", NULL, MAVLINK_TYPE_FLOAT, 4, 52, offsetof(mavlink_follow_target_t, attitude_q) }, \ |
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47 | { "rates", NULL, MAVLINK_TYPE_FLOAT, 3, 68, offsetof(mavlink_follow_target_t, rates) }, \ |
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48 | { "position_cov", NULL, MAVLINK_TYPE_FLOAT, 3, 80, offsetof(mavlink_follow_target_t, position_cov) }, \ |
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49 | { "est_capabilities", NULL, MAVLINK_TYPE_UINT8_T, 0, 92, offsetof(mavlink_follow_target_t, est_capabilities) }, \ |
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50 | } \ |
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51 | } |
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52 | #else |
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53 | #define MAVLINK_MESSAGE_INFO_FOLLOW_TARGET { \ |
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54 | "FOLLOW_TARGET", \ |
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55 | 11, \ |
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56 | { { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_follow_target_t, timestamp) }, \ |
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57 | { "custom_state", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_follow_target_t, custom_state) }, \ |
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58 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_follow_target_t, lat) }, \ |
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59 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_follow_target_t, lon) }, \ |
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60 | { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_follow_target_t, alt) }, \ |
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61 | { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_follow_target_t, vel) }, \ |
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62 | { "acc", NULL, MAVLINK_TYPE_FLOAT, 3, 40, offsetof(mavlink_follow_target_t, acc) }, \ |
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63 | { "attitude_q", NULL, MAVLINK_TYPE_FLOAT, 4, 52, offsetof(mavlink_follow_target_t, attitude_q) }, \ |
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64 | { "rates", NULL, MAVLINK_TYPE_FLOAT, 3, 68, offsetof(mavlink_follow_target_t, rates) }, \ |
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65 | { "position_cov", NULL, MAVLINK_TYPE_FLOAT, 3, 80, offsetof(mavlink_follow_target_t, position_cov) }, \ |
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66 | { "est_capabilities", NULL, MAVLINK_TYPE_UINT8_T, 0, 92, offsetof(mavlink_follow_target_t, est_capabilities) }, \ |
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67 | } \ |
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68 | } |
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69 | #endif |
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70 | |
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71 | /** |
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72 | * @brief Pack a follow_target message |
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73 | * @param system_id ID of this system |
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74 | * @param component_id ID of this component (e.g. 200 for IMU) |
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75 | * @param msg The MAVLink message to compress the data into |
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76 | * |
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77 | * @param timestamp Timestamp in milliseconds since system boot |
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78 | * @param est_capabilities bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3) |
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79 | * @param lat Latitude (WGS84), in degrees * 1E7 |
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80 | * @param lon Longitude (WGS84), in degrees * 1E7 |
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81 | * @param alt AMSL, in meters |
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82 | * @param vel target velocity (0,0,0) for unknown |
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83 | * @param acc linear target acceleration (0,0,0) for unknown |
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84 | * @param attitude_q (1 0 0 0 for unknown) |
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85 | * @param rates (0 0 0 for unknown) |
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86 | * @param position_cov eph epv |
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87 | * @param custom_state button states or switches of a tracker device |
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88 | * @return length of the message in bytes (excluding serial stream start sign) |
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89 | */ |
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90 | static inline uint16_t mavlink_msg_follow_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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91 | uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state) |
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92 | { |
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93 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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94 | char buf[MAVLINK_MSG_ID_FOLLOW_TARGET_LEN]; |
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95 | _mav_put_uint64_t(buf, 0, timestamp); |
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96 | _mav_put_uint64_t(buf, 8, custom_state); |
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97 | _mav_put_int32_t(buf, 16, lat); |
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98 | _mav_put_int32_t(buf, 20, lon); |
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99 | _mav_put_float(buf, 24, alt); |
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100 | _mav_put_uint8_t(buf, 92, est_capabilities); |
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101 | _mav_put_float_array(buf, 28, vel, 3); |
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102 | _mav_put_float_array(buf, 40, acc, 3); |
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103 | _mav_put_float_array(buf, 52, attitude_q, 4); |
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104 | _mav_put_float_array(buf, 68, rates, 3); |
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105 | _mav_put_float_array(buf, 80, position_cov, 3); |
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106 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN); |
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107 | #else |
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108 | mavlink_follow_target_t packet; |
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109 | packet.timestamp = timestamp; |
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110 | packet.custom_state = custom_state; |
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111 | packet.lat = lat; |
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112 | packet.lon = lon; |
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113 | packet.alt = alt; |
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114 | packet.est_capabilities = est_capabilities; |
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115 | mav_array_memcpy(packet.vel, vel, sizeof(float)*3); |
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116 | mav_array_memcpy(packet.acc, acc, sizeof(float)*3); |
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117 | mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4); |
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118 | mav_array_memcpy(packet.rates, rates, sizeof(float)*3); |
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119 | mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3); |
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120 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN); |
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121 | #endif |
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122 | |
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123 | msg->msgid = MAVLINK_MSG_ID_FOLLOW_TARGET; |
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124 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC); |
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125 | } |
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126 | |
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127 | /** |
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128 | * @brief Pack a follow_target message on a channel |
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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 chan The MAVLink channel this message will be sent over |
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132 | * @param msg The MAVLink message to compress the data into |
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133 | * @param timestamp Timestamp in milliseconds since system boot |
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134 | * @param est_capabilities bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3) |
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135 | * @param lat Latitude (WGS84), in degrees * 1E7 |
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136 | * @param lon Longitude (WGS84), in degrees * 1E7 |
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137 | * @param alt AMSL, in meters |
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138 | * @param vel target velocity (0,0,0) for unknown |
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139 | * @param acc linear target acceleration (0,0,0) for unknown |
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140 | * @param attitude_q (1 0 0 0 for unknown) |
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141 | * @param rates (0 0 0 for unknown) |
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142 | * @param position_cov eph epv |
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143 | * @param custom_state button states or switches of a tracker device |
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144 | * @return length of the message in bytes (excluding serial stream start sign) |
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145 | */ |
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146 | static inline uint16_t mavlink_msg_follow_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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147 | mavlink_message_t* msg, |
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148 | uint64_t timestamp,uint8_t est_capabilities,int32_t lat,int32_t lon,float alt,const float *vel,const float *acc,const float *attitude_q,const float *rates,const float *position_cov,uint64_t custom_state) |
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149 | { |
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150 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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151 | char buf[MAVLINK_MSG_ID_FOLLOW_TARGET_LEN]; |
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152 | _mav_put_uint64_t(buf, 0, timestamp); |
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153 | _mav_put_uint64_t(buf, 8, custom_state); |
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154 | _mav_put_int32_t(buf, 16, lat); |
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155 | _mav_put_int32_t(buf, 20, lon); |
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156 | _mav_put_float(buf, 24, alt); |
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157 | _mav_put_uint8_t(buf, 92, est_capabilities); |
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158 | _mav_put_float_array(buf, 28, vel, 3); |
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159 | _mav_put_float_array(buf, 40, acc, 3); |
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160 | _mav_put_float_array(buf, 52, attitude_q, 4); |
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161 | _mav_put_float_array(buf, 68, rates, 3); |
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162 | _mav_put_float_array(buf, 80, position_cov, 3); |
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163 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN); |
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164 | #else |
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165 | mavlink_follow_target_t packet; |
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166 | packet.timestamp = timestamp; |
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167 | packet.custom_state = custom_state; |
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168 | packet.lat = lat; |
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169 | packet.lon = lon; |
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170 | packet.alt = alt; |
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171 | packet.est_capabilities = est_capabilities; |
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172 | mav_array_memcpy(packet.vel, vel, sizeof(float)*3); |
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173 | mav_array_memcpy(packet.acc, acc, sizeof(float)*3); |
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174 | mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4); |
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175 | mav_array_memcpy(packet.rates, rates, sizeof(float)*3); |
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176 | mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3); |
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177 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN); |
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178 | #endif |
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179 | |
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180 | msg->msgid = MAVLINK_MSG_ID_FOLLOW_TARGET; |
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181 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC); |
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182 | } |
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183 | |
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184 | /** |
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185 | * @brief Encode a follow_target struct |
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186 | * |
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187 | * @param system_id ID of this system |
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188 | * @param component_id ID of this component (e.g. 200 for IMU) |
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189 | * @param msg The MAVLink message to compress the data into |
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190 | * @param follow_target C-struct to read the message contents from |
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191 | */ |
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192 | static inline uint16_t mavlink_msg_follow_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_follow_target_t* follow_target) |
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193 | { |
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194 | return mavlink_msg_follow_target_pack(system_id, component_id, msg, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state); |
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195 | } |
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196 | |
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197 | /** |
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198 | * @brief Encode a follow_target struct on a channel |
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199 | * |
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200 | * @param system_id ID of this system |
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201 | * @param component_id ID of this component (e.g. 200 for IMU) |
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202 | * @param chan The MAVLink channel this message will be sent over |
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203 | * @param msg The MAVLink message to compress the data into |
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204 | * @param follow_target C-struct to read the message contents from |
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205 | */ |
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206 | static inline uint16_t mavlink_msg_follow_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_follow_target_t* follow_target) |
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207 | { |
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208 | return mavlink_msg_follow_target_pack_chan(system_id, component_id, chan, msg, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state); |
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209 | } |
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210 | |
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211 | /** |
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212 | * @brief Send a follow_target message |
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213 | * @param chan MAVLink channel to send the message |
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214 | * |
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215 | * @param timestamp Timestamp in milliseconds since system boot |
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216 | * @param est_capabilities bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3) |
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217 | * @param lat Latitude (WGS84), in degrees * 1E7 |
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218 | * @param lon Longitude (WGS84), in degrees * 1E7 |
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219 | * @param alt AMSL, in meters |
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220 | * @param vel target velocity (0,0,0) for unknown |
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221 | * @param acc linear target acceleration (0,0,0) for unknown |
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222 | * @param attitude_q (1 0 0 0 for unknown) |
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223 | * @param rates (0 0 0 for unknown) |
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224 | * @param position_cov eph epv |
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225 | * @param custom_state button states or switches of a tracker device |
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226 | */ |
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227 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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228 | |
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229 | static inline void mavlink_msg_follow_target_send(mavlink_channel_t chan, uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state) |
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230 | { |
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231 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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232 | char buf[MAVLINK_MSG_ID_FOLLOW_TARGET_LEN]; |
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233 | _mav_put_uint64_t(buf, 0, timestamp); |
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234 | _mav_put_uint64_t(buf, 8, custom_state); |
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235 | _mav_put_int32_t(buf, 16, lat); |
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236 | _mav_put_int32_t(buf, 20, lon); |
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237 | _mav_put_float(buf, 24, alt); |
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238 | _mav_put_uint8_t(buf, 92, est_capabilities); |
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239 | _mav_put_float_array(buf, 28, vel, 3); |
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240 | _mav_put_float_array(buf, 40, acc, 3); |
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241 | _mav_put_float_array(buf, 52, attitude_q, 4); |
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242 | _mav_put_float_array(buf, 68, rates, 3); |
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243 | _mav_put_float_array(buf, 80, position_cov, 3); |
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244 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, buf, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC); |
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245 | #else |
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246 | mavlink_follow_target_t packet; |
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247 | packet.timestamp = timestamp; |
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248 | packet.custom_state = custom_state; |
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249 | packet.lat = lat; |
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250 | packet.lon = lon; |
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251 | packet.alt = alt; |
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252 | packet.est_capabilities = est_capabilities; |
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253 | mav_array_memcpy(packet.vel, vel, sizeof(float)*3); |
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254 | mav_array_memcpy(packet.acc, acc, sizeof(float)*3); |
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255 | mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4); |
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256 | mav_array_memcpy(packet.rates, rates, sizeof(float)*3); |
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257 | mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3); |
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258 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)&packet, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC); |
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259 | #endif |
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260 | } |
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261 | |
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262 | /** |
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263 | * @brief Send a follow_target message |
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264 | * @param chan MAVLink channel to send the message |
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265 | * @param struct The MAVLink struct to serialize |
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266 | */ |
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267 | static inline void mavlink_msg_follow_target_send_struct(mavlink_channel_t chan, const mavlink_follow_target_t* follow_target) |
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268 | { |
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269 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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270 | mavlink_msg_follow_target_send(chan, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state); |
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271 | #else |
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272 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)follow_target, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC); |
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273 | #endif |
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274 | } |
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275 | |
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276 | #if MAVLINK_MSG_ID_FOLLOW_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN |
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277 | /* |
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278 | This varient of _send() can be used to save stack space by re-using |
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279 | memory from the receive buffer. The caller provides a |
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280 | mavlink_message_t which is the size of a full mavlink message. This |
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281 | is usually the receive buffer for the channel, and allows a reply to an |
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282 | incoming message with minimum stack space usage. |
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283 | */ |
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284 | static inline void mavlink_msg_follow_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state) |
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285 | { |
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286 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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287 | char *buf = (char *)msgbuf; |
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288 | _mav_put_uint64_t(buf, 0, timestamp); |
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289 | _mav_put_uint64_t(buf, 8, custom_state); |
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290 | _mav_put_int32_t(buf, 16, lat); |
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291 | _mav_put_int32_t(buf, 20, lon); |
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292 | _mav_put_float(buf, 24, alt); |
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293 | _mav_put_uint8_t(buf, 92, est_capabilities); |
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294 | _mav_put_float_array(buf, 28, vel, 3); |
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295 | _mav_put_float_array(buf, 40, acc, 3); |
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296 | _mav_put_float_array(buf, 52, attitude_q, 4); |
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297 | _mav_put_float_array(buf, 68, rates, 3); |
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298 | _mav_put_float_array(buf, 80, position_cov, 3); |
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299 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, buf, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC); |
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300 | #else |
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301 | mavlink_follow_target_t *packet = (mavlink_follow_target_t *)msgbuf; |
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302 | packet->timestamp = timestamp; |
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303 | packet->custom_state = custom_state; |
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304 | packet->lat = lat; |
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305 | packet->lon = lon; |
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306 | packet->alt = alt; |
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307 | packet->est_capabilities = est_capabilities; |
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308 | mav_array_memcpy(packet->vel, vel, sizeof(float)*3); |
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309 | mav_array_memcpy(packet->acc, acc, sizeof(float)*3); |
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310 | mav_array_memcpy(packet->attitude_q, attitude_q, sizeof(float)*4); |
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311 | mav_array_memcpy(packet->rates, rates, sizeof(float)*3); |
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312 | mav_array_memcpy(packet->position_cov, position_cov, sizeof(float)*3); |
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313 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)packet, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC); |
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314 | #endif |
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315 | } |
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316 | #endif |
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317 | |
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318 | #endif |
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319 | |
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320 | // MESSAGE FOLLOW_TARGET UNPACKING |
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321 | |
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322 | |
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323 | /** |
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324 | * @brief Get field timestamp from follow_target message |
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325 | * |
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326 | * @return Timestamp in milliseconds since system boot |
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327 | */ |
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328 | static inline uint64_t mavlink_msg_follow_target_get_timestamp(const mavlink_message_t* msg) |
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329 | { |
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330 | return _MAV_RETURN_uint64_t(msg, 0); |
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331 | } |
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332 | |
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333 | /** |
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334 | * @brief Get field est_capabilities from follow_target message |
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335 | * |
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336 | * @return bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3) |
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337 | */ |
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338 | static inline uint8_t mavlink_msg_follow_target_get_est_capabilities(const mavlink_message_t* msg) |
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339 | { |
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340 | return _MAV_RETURN_uint8_t(msg, 92); |
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341 | } |
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342 | |
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343 | /** |
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344 | * @brief Get field lat from follow_target message |
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345 | * |
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346 | * @return Latitude (WGS84), in degrees * 1E7 |
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347 | */ |
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348 | static inline int32_t mavlink_msg_follow_target_get_lat(const mavlink_message_t* msg) |
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349 | { |
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350 | return _MAV_RETURN_int32_t(msg, 16); |
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351 | } |
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352 | |
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353 | /** |
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354 | * @brief Get field lon from follow_target message |
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355 | * |
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356 | * @return Longitude (WGS84), in degrees * 1E7 |
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357 | */ |
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358 | static inline int32_t mavlink_msg_follow_target_get_lon(const mavlink_message_t* msg) |
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359 | { |
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360 | return _MAV_RETURN_int32_t(msg, 20); |
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361 | } |
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362 | |
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363 | /** |
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364 | * @brief Get field alt from follow_target message |
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365 | * |
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366 | * @return AMSL, in meters |
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367 | */ |
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368 | static inline float mavlink_msg_follow_target_get_alt(const mavlink_message_t* msg) |
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369 | { |
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370 | return _MAV_RETURN_float(msg, 24); |
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371 | } |
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372 | |
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373 | /** |
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374 | * @brief Get field vel from follow_target message |
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375 | * |
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376 | * @return target velocity (0,0,0) for unknown |
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377 | */ |
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378 | static inline uint16_t mavlink_msg_follow_target_get_vel(const mavlink_message_t* msg, float *vel) |
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379 | { |
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380 | return _MAV_RETURN_float_array(msg, vel, 3, 28); |
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381 | } |
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382 | |
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383 | /** |
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384 | * @brief Get field acc from follow_target message |
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385 | * |
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386 | * @return linear target acceleration (0,0,0) for unknown |
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387 | */ |
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388 | static inline uint16_t mavlink_msg_follow_target_get_acc(const mavlink_message_t* msg, float *acc) |
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389 | { |
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390 | return _MAV_RETURN_float_array(msg, acc, 3, 40); |
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391 | } |
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392 | |
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393 | /** |
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394 | * @brief Get field attitude_q from follow_target message |
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395 | * |
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396 | * @return (1 0 0 0 for unknown) |
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397 | */ |
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398 | static inline uint16_t mavlink_msg_follow_target_get_attitude_q(const mavlink_message_t* msg, float *attitude_q) |
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399 | { |
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400 | return _MAV_RETURN_float_array(msg, attitude_q, 4, 52); |
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401 | } |
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402 | |
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403 | /** |
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404 | * @brief Get field rates from follow_target message |
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405 | * |
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406 | * @return (0 0 0 for unknown) |
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407 | */ |
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408 | static inline uint16_t mavlink_msg_follow_target_get_rates(const mavlink_message_t* msg, float *rates) |
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409 | { |
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410 | return _MAV_RETURN_float_array(msg, rates, 3, 68); |
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411 | } |
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412 | |
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413 | /** |
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414 | * @brief Get field position_cov from follow_target message |
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415 | * |
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416 | * @return eph epv |
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417 | */ |
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418 | static inline uint16_t mavlink_msg_follow_target_get_position_cov(const mavlink_message_t* msg, float *position_cov) |
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419 | { |
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420 | return _MAV_RETURN_float_array(msg, position_cov, 3, 80); |
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421 | } |
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422 | |
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423 | /** |
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424 | * @brief Get field custom_state from follow_target message |
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425 | * |
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426 | * @return button states or switches of a tracker device |
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427 | */ |
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428 | static inline uint64_t mavlink_msg_follow_target_get_custom_state(const mavlink_message_t* msg) |
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429 | { |
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430 | return _MAV_RETURN_uint64_t(msg, 8); |
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431 | } |
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432 | |
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433 | /** |
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434 | * @brief Decode a follow_target message into a struct |
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435 | * |
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436 | * @param msg The message to decode |
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437 | * @param follow_target C-struct to decode the message contents into |
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438 | */ |
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439 | static inline void mavlink_msg_follow_target_decode(const mavlink_message_t* msg, mavlink_follow_target_t* follow_target) |
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440 | { |
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441 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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442 | follow_target->timestamp = mavlink_msg_follow_target_get_timestamp(msg); |
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443 | follow_target->custom_state = mavlink_msg_follow_target_get_custom_state(msg); |
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444 | follow_target->lat = mavlink_msg_follow_target_get_lat(msg); |
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445 | follow_target->lon = mavlink_msg_follow_target_get_lon(msg); |
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446 | follow_target->alt = mavlink_msg_follow_target_get_alt(msg); |
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447 | mavlink_msg_follow_target_get_vel(msg, follow_target->vel); |
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448 | mavlink_msg_follow_target_get_acc(msg, follow_target->acc); |
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449 | mavlink_msg_follow_target_get_attitude_q(msg, follow_target->attitude_q); |
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450 | mavlink_msg_follow_target_get_rates(msg, follow_target->rates); |
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451 | mavlink_msg_follow_target_get_position_cov(msg, follow_target->position_cov); |
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452 | follow_target->est_capabilities = mavlink_msg_follow_target_get_est_capabilities(msg); |
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453 | #else |
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454 | uint8_t len = msg->len < MAVLINK_MSG_ID_FOLLOW_TARGET_LEN? msg->len : MAVLINK_MSG_ID_FOLLOW_TARGET_LEN; |
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455 | memset(follow_target, 0, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN); |
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456 | memcpy(follow_target, _MAV_PAYLOAD(msg), len); |
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457 | #endif |
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458 | } |
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