source: flair-src/branches/mavlink/tools/Controller/Mavlink/src/mavlink_generated_messages/common/mavlink_msg_global_position_int_cov.h @ 46

Last change on this file since 46 was 46, checked in by Thomas Fuhrmann, 5 years ago

Add the mavlink branch

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1// MESSAGE GLOBAL_POSITION_INT_COV PACKING
2
3#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV 63
4
5MAVPACKED(
6typedef struct __mavlink_global_position_int_cov_t {
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)*/
9 int32_t lat; /*< Latitude, expressed as degrees * 1E7*/
10 int32_t lon; /*< Longitude, expressed as degrees * 1E7*/
11 int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters), above MSL*/
12 int32_t relative_alt; /*< Altitude above ground in meters, expressed as * 1000 (millimeters)*/
13 float vx; /*< Ground X Speed (Latitude), expressed as m/s*/
14 float vy; /*< Ground Y Speed (Longitude), expressed as m/s*/
15 float vz; /*< Ground Z Speed (Altitude), expressed as m/s*/
16 float covariance[36]; /*< Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)*/
17 uint8_t estimator_type; /*< Class id of the estimator this estimate originated from.*/
18}) mavlink_global_position_int_cov_t;
19
20#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN 185
21#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN 185
22#define MAVLINK_MSG_ID_63_LEN 185
23#define MAVLINK_MSG_ID_63_MIN_LEN 185
24
25#define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC 51
26#define MAVLINK_MSG_ID_63_CRC 51
27
28#define MAVLINK_MSG_GLOBAL_POSITION_INT_COV_FIELD_COVARIANCE_LEN 36
29
30#if MAVLINK_COMMAND_24BIT
31#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT_COV { \
32        63, \
33        "GLOBAL_POSITION_INT_COV", \
34        11, \
35        {  { "time_utc", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_int_cov_t, time_utc) }, \
36         { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_global_position_int_cov_t, time_boot_ms) }, \
37         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_cov_t, lat) }, \
38         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_cov_t, lon) }, \
39         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_global_position_int_cov_t, alt) }, \
40         { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_global_position_int_cov_t, relative_alt) }, \
41         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_int_cov_t, vx) }, \
42         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_global_position_int_cov_t, vy) }, \
43         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_global_position_int_cov_t, vz) }, \
44         { "covariance", NULL, MAVLINK_TYPE_FLOAT, 36, 40, offsetof(mavlink_global_position_int_cov_t, covariance) }, \
45         { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 184, offsetof(mavlink_global_position_int_cov_t, estimator_type) }, \
46         } \
47}
48#else
49#define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT_COV { \
50        "GLOBAL_POSITION_INT_COV", \
51        11, \
52        {  { "time_utc", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_int_cov_t, time_utc) }, \
53         { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_global_position_int_cov_t, time_boot_ms) }, \
54         { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_cov_t, lat) }, \
55         { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_cov_t, lon) }, \
56         { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_global_position_int_cov_t, alt) }, \
57         { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_global_position_int_cov_t, relative_alt) }, \
58         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_int_cov_t, vx) }, \
59         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_global_position_int_cov_t, vy) }, \
60         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_global_position_int_cov_t, vz) }, \
61         { "covariance", NULL, MAVLINK_TYPE_FLOAT, 36, 40, offsetof(mavlink_global_position_int_cov_t, covariance) }, \
62         { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 184, offsetof(mavlink_global_position_int_cov_t, estimator_type) }, \
63         } \
64}
65#endif
66
67/**
68 * @brief Pack a global_position_int_cov message
69 * @param system_id ID of this system
70 * @param component_id ID of this component (e.g. 200 for IMU)
71 * @param msg The MAVLink message to compress the data into
72 *
73 * @param time_boot_ms Timestamp (milliseconds since system boot)
74 * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
75 * @param estimator_type Class id of the estimator this estimate originated from.
76 * @param lat Latitude, expressed as degrees * 1E7
77 * @param lon Longitude, expressed as degrees * 1E7
78 * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
79 * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
80 * @param vx Ground X Speed (Latitude), expressed as m/s
81 * @param vy Ground Y Speed (Longitude), expressed as m/s
82 * @param vz Ground Z Speed (Altitude), expressed as m/s
83 * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
84 * @return length of the message in bytes (excluding serial stream start sign)
85 */
86static inline uint16_t mavlink_msg_global_position_int_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
87                                                       uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, float vx, float vy, float vz, const float *covariance)
88{
89#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
90        char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN];
91        _mav_put_uint64_t(buf, 0, time_utc);
92        _mav_put_uint32_t(buf, 8, time_boot_ms);
93        _mav_put_int32_t(buf, 12, lat);
94        _mav_put_int32_t(buf, 16, lon);
95        _mav_put_int32_t(buf, 20, alt);
96        _mav_put_int32_t(buf, 24, relative_alt);
97        _mav_put_float(buf, 28, vx);
98        _mav_put_float(buf, 32, vy);
99        _mav_put_float(buf, 36, vz);
100        _mav_put_uint8_t(buf, 184, estimator_type);
101        _mav_put_float_array(buf, 40, covariance, 36);
102        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
103#else
104        mavlink_global_position_int_cov_t packet;
105        packet.time_utc = time_utc;
106        packet.time_boot_ms = time_boot_ms;
107        packet.lat = lat;
108        packet.lon = lon;
109        packet.alt = alt;
110        packet.relative_alt = relative_alt;
111        packet.vx = vx;
112        packet.vy = vy;
113        packet.vz = vz;
114        packet.estimator_type = estimator_type;
115        mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
116        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
117#endif
118
119        msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV;
120    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
121}
122
123/**
124 * @brief Pack a global_position_int_cov message on a channel
125 * @param system_id ID of this system
126 * @param component_id ID of this component (e.g. 200 for IMU)
127 * @param chan The MAVLink channel this message will be sent over
128 * @param msg The MAVLink message to compress the data into
129 * @param time_boot_ms Timestamp (milliseconds since system boot)
130 * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
131 * @param estimator_type Class id of the estimator this estimate originated from.
132 * @param lat Latitude, expressed as degrees * 1E7
133 * @param lon Longitude, expressed as degrees * 1E7
134 * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
135 * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
136 * @param vx Ground X Speed (Latitude), expressed as m/s
137 * @param vy Ground Y Speed (Longitude), expressed as m/s
138 * @param vz Ground Z Speed (Altitude), expressed as m/s
139 * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
140 * @return length of the message in bytes (excluding serial stream start sign)
141 */
142static inline uint16_t mavlink_msg_global_position_int_cov_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
143                                                           mavlink_message_t* msg,
144                                                           uint32_t time_boot_ms,uint64_t time_utc,uint8_t estimator_type,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,float vx,float vy,float vz,const float *covariance)
145{
146#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
147        char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN];
148        _mav_put_uint64_t(buf, 0, time_utc);
149        _mav_put_uint32_t(buf, 8, time_boot_ms);
150        _mav_put_int32_t(buf, 12, lat);
151        _mav_put_int32_t(buf, 16, lon);
152        _mav_put_int32_t(buf, 20, alt);
153        _mav_put_int32_t(buf, 24, relative_alt);
154        _mav_put_float(buf, 28, vx);
155        _mav_put_float(buf, 32, vy);
156        _mav_put_float(buf, 36, vz);
157        _mav_put_uint8_t(buf, 184, estimator_type);
158        _mav_put_float_array(buf, 40, covariance, 36);
159        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
160#else
161        mavlink_global_position_int_cov_t packet;
162        packet.time_utc = time_utc;
163        packet.time_boot_ms = time_boot_ms;
164        packet.lat = lat;
165        packet.lon = lon;
166        packet.alt = alt;
167        packet.relative_alt = relative_alt;
168        packet.vx = vx;
169        packet.vy = vy;
170        packet.vz = vz;
171        packet.estimator_type = estimator_type;
172        mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
173        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
174#endif
175
176        msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV;
177    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
178}
179
180/**
181 * @brief Encode a global_position_int_cov struct
182 *
183 * @param system_id ID of this system
184 * @param component_id ID of this component (e.g. 200 for IMU)
185 * @param msg The MAVLink message to compress the data into
186 * @param global_position_int_cov C-struct to read the message contents from
187 */
188static inline uint16_t mavlink_msg_global_position_int_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_cov_t* global_position_int_cov)
189{
190        return mavlink_msg_global_position_int_cov_pack(system_id, component_id, msg, global_position_int_cov->time_boot_ms, global_position_int_cov->time_utc, global_position_int_cov->estimator_type, global_position_int_cov->lat, global_position_int_cov->lon, global_position_int_cov->alt, global_position_int_cov->relative_alt, global_position_int_cov->vx, global_position_int_cov->vy, global_position_int_cov->vz, global_position_int_cov->covariance);
191}
192
193/**
194 * @brief Encode a global_position_int_cov struct on a channel
195 *
196 * @param system_id ID of this system
197 * @param component_id ID of this component (e.g. 200 for IMU)
198 * @param chan The MAVLink channel this message will be sent over
199 * @param msg The MAVLink message to compress the data into
200 * @param global_position_int_cov C-struct to read the message contents from
201 */
202static inline uint16_t mavlink_msg_global_position_int_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_cov_t* global_position_int_cov)
203{
204        return mavlink_msg_global_position_int_cov_pack_chan(system_id, component_id, chan, msg, global_position_int_cov->time_boot_ms, global_position_int_cov->time_utc, global_position_int_cov->estimator_type, global_position_int_cov->lat, global_position_int_cov->lon, global_position_int_cov->alt, global_position_int_cov->relative_alt, global_position_int_cov->vx, global_position_int_cov->vy, global_position_int_cov->vz, global_position_int_cov->covariance);
205}
206
207/**
208 * @brief Send a global_position_int_cov message
209 * @param chan MAVLink channel to send the message
210 *
211 * @param time_boot_ms Timestamp (milliseconds since system boot)
212 * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
213 * @param estimator_type Class id of the estimator this estimate originated from.
214 * @param lat Latitude, expressed as degrees * 1E7
215 * @param lon Longitude, expressed as degrees * 1E7
216 * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
217 * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
218 * @param vx Ground X Speed (Latitude), expressed as m/s
219 * @param vy Ground Y Speed (Longitude), expressed as m/s
220 * @param vz Ground Z Speed (Altitude), expressed as m/s
221 * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
222 */
223#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
224
225static inline void mavlink_msg_global_position_int_cov_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, float vx, float vy, float vz, const float *covariance)
226{
227#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
228        char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN];
229        _mav_put_uint64_t(buf, 0, time_utc);
230        _mav_put_uint32_t(buf, 8, time_boot_ms);
231        _mav_put_int32_t(buf, 12, lat);
232        _mav_put_int32_t(buf, 16, lon);
233        _mav_put_int32_t(buf, 20, alt);
234        _mav_put_int32_t(buf, 24, relative_alt);
235        _mav_put_float(buf, 28, vx);
236        _mav_put_float(buf, 32, vy);
237        _mav_put_float(buf, 36, vz);
238        _mav_put_uint8_t(buf, 184, estimator_type);
239        _mav_put_float_array(buf, 40, covariance, 36);
240    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
241#else
242        mavlink_global_position_int_cov_t packet;
243        packet.time_utc = time_utc;
244        packet.time_boot_ms = time_boot_ms;
245        packet.lat = lat;
246        packet.lon = lon;
247        packet.alt = alt;
248        packet.relative_alt = relative_alt;
249        packet.vx = vx;
250        packet.vy = vy;
251        packet.vz = vz;
252        packet.estimator_type = estimator_type;
253        mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
254    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
255#endif
256}
257
258/**
259 * @brief Send a global_position_int_cov message
260 * @param chan MAVLink channel to send the message
261 * @param struct The MAVLink struct to serialize
262 */
263static inline void mavlink_msg_global_position_int_cov_send_struct(mavlink_channel_t chan, const mavlink_global_position_int_cov_t* global_position_int_cov)
264{
265#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
266    mavlink_msg_global_position_int_cov_send(chan, global_position_int_cov->time_boot_ms, global_position_int_cov->time_utc, global_position_int_cov->estimator_type, global_position_int_cov->lat, global_position_int_cov->lon, global_position_int_cov->alt, global_position_int_cov->relative_alt, global_position_int_cov->vx, global_position_int_cov->vy, global_position_int_cov->vz, global_position_int_cov->covariance);
267#else
268    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)global_position_int_cov, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
269#endif
270}
271
272#if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN <= MAVLINK_MAX_PAYLOAD_LEN
273/*
274  This varient of _send() can be used to save stack space by re-using
275  memory from the receive buffer.  The caller provides a
276  mavlink_message_t which is the size of a full mavlink message. This
277  is usually the receive buffer for the channel, and allows a reply to an
278  incoming message with minimum stack space usage.
279 */
280static inline void mavlink_msg_global_position_int_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, float vx, float vy, float vz, const float *covariance)
281{
282#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
283        char *buf = (char *)msgbuf;
284        _mav_put_uint64_t(buf, 0, time_utc);
285        _mav_put_uint32_t(buf, 8, time_boot_ms);
286        _mav_put_int32_t(buf, 12, lat);
287        _mav_put_int32_t(buf, 16, lon);
288        _mav_put_int32_t(buf, 20, alt);
289        _mav_put_int32_t(buf, 24, relative_alt);
290        _mav_put_float(buf, 28, vx);
291        _mav_put_float(buf, 32, vy);
292        _mav_put_float(buf, 36, vz);
293        _mav_put_uint8_t(buf, 184, estimator_type);
294        _mav_put_float_array(buf, 40, covariance, 36);
295    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
296#else
297        mavlink_global_position_int_cov_t *packet = (mavlink_global_position_int_cov_t *)msgbuf;
298        packet->time_utc = time_utc;
299        packet->time_boot_ms = time_boot_ms;
300        packet->lat = lat;
301        packet->lon = lon;
302        packet->alt = alt;
303        packet->relative_alt = relative_alt;
304        packet->vx = vx;
305        packet->vy = vy;
306        packet->vz = vz;
307        packet->estimator_type = estimator_type;
308        mav_array_memcpy(packet->covariance, covariance, sizeof(float)*36);
309    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
310#endif
311}
312#endif
313
314#endif
315
316// MESSAGE GLOBAL_POSITION_INT_COV UNPACKING
317
318
319/**
320 * @brief Get field time_boot_ms from global_position_int_cov message
321 *
322 * @return Timestamp (milliseconds since system boot)
323 */
324static inline uint32_t mavlink_msg_global_position_int_cov_get_time_boot_ms(const mavlink_message_t* msg)
325{
326        return _MAV_RETURN_uint32_t(msg,  8);
327}
328
329/**
330 * @brief Get field time_utc from global_position_int_cov message
331 *
332 * @return Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
333 */
334static inline uint64_t mavlink_msg_global_position_int_cov_get_time_utc(const mavlink_message_t* msg)
335{
336        return _MAV_RETURN_uint64_t(msg,  0);
337}
338
339/**
340 * @brief Get field estimator_type from global_position_int_cov message
341 *
342 * @return Class id of the estimator this estimate originated from.
343 */
344static inline uint8_t mavlink_msg_global_position_int_cov_get_estimator_type(const mavlink_message_t* msg)
345{
346        return _MAV_RETURN_uint8_t(msg,  184);
347}
348
349/**
350 * @brief Get field lat from global_position_int_cov message
351 *
352 * @return Latitude, expressed as degrees * 1E7
353 */
354static inline int32_t mavlink_msg_global_position_int_cov_get_lat(const mavlink_message_t* msg)
355{
356        return _MAV_RETURN_int32_t(msg,  12);
357}
358
359/**
360 * @brief Get field lon from global_position_int_cov message
361 *
362 * @return Longitude, expressed as degrees * 1E7
363 */
364static inline int32_t mavlink_msg_global_position_int_cov_get_lon(const mavlink_message_t* msg)
365{
366        return _MAV_RETURN_int32_t(msg,  16);
367}
368
369/**
370 * @brief Get field alt from global_position_int_cov message
371 *
372 * @return Altitude in meters, expressed as * 1000 (millimeters), above MSL
373 */
374static inline int32_t mavlink_msg_global_position_int_cov_get_alt(const mavlink_message_t* msg)
375{
376        return _MAV_RETURN_int32_t(msg,  20);
377}
378
379/**
380 * @brief Get field relative_alt from global_position_int_cov message
381 *
382 * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
383 */
384static inline int32_t mavlink_msg_global_position_int_cov_get_relative_alt(const mavlink_message_t* msg)
385{
386        return _MAV_RETURN_int32_t(msg,  24);
387}
388
389/**
390 * @brief Get field vx from global_position_int_cov message
391 *
392 * @return Ground X Speed (Latitude), expressed as m/s
393 */
394static inline float mavlink_msg_global_position_int_cov_get_vx(const mavlink_message_t* msg)
395{
396        return _MAV_RETURN_float(msg,  28);
397}
398
399/**
400 * @brief Get field vy from global_position_int_cov message
401 *
402 * @return Ground Y Speed (Longitude), expressed as m/s
403 */
404static inline float mavlink_msg_global_position_int_cov_get_vy(const mavlink_message_t* msg)
405{
406        return _MAV_RETURN_float(msg,  32);
407}
408
409/**
410 * @brief Get field vz from global_position_int_cov message
411 *
412 * @return Ground Z Speed (Altitude), expressed as m/s
413 */
414static inline float mavlink_msg_global_position_int_cov_get_vz(const mavlink_message_t* msg)
415{
416        return _MAV_RETURN_float(msg,  36);
417}
418
419/**
420 * @brief Get field covariance from global_position_int_cov message
421 *
422 * @return Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
423 */
424static inline uint16_t mavlink_msg_global_position_int_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
425{
426        return _MAV_RETURN_float_array(msg, covariance, 36,  40);
427}
428
429/**
430 * @brief Decode a global_position_int_cov message into a struct
431 *
432 * @param msg The message to decode
433 * @param global_position_int_cov C-struct to decode the message contents into
434 */
435static inline void mavlink_msg_global_position_int_cov_decode(const mavlink_message_t* msg, mavlink_global_position_int_cov_t* global_position_int_cov)
436{
437#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
438        global_position_int_cov->time_utc = mavlink_msg_global_position_int_cov_get_time_utc(msg);
439        global_position_int_cov->time_boot_ms = mavlink_msg_global_position_int_cov_get_time_boot_ms(msg);
440        global_position_int_cov->lat = mavlink_msg_global_position_int_cov_get_lat(msg);
441        global_position_int_cov->lon = mavlink_msg_global_position_int_cov_get_lon(msg);
442        global_position_int_cov->alt = mavlink_msg_global_position_int_cov_get_alt(msg);
443        global_position_int_cov->relative_alt = mavlink_msg_global_position_int_cov_get_relative_alt(msg);
444        global_position_int_cov->vx = mavlink_msg_global_position_int_cov_get_vx(msg);
445        global_position_int_cov->vy = mavlink_msg_global_position_int_cov_get_vy(msg);
446        global_position_int_cov->vz = mavlink_msg_global_position_int_cov_get_vz(msg);
447        mavlink_msg_global_position_int_cov_get_covariance(msg, global_position_int_cov->covariance);
448        global_position_int_cov->estimator_type = mavlink_msg_global_position_int_cov_get_estimator_type(msg);
449#else
450        uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN;
451        memset(global_position_int_cov, 0, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
452        memcpy(global_position_int_cov, _MAV_PAYLOAD(msg), len);
453#endif
454}
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