1 | // MESSAGE SET_HOME_POSITION PACKING |
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2 | |
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3 | #define MAVLINK_MSG_ID_SET_HOME_POSITION 243 |
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4 | |
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5 | MAVPACKED( |
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6 | typedef struct __mavlink_set_home_position_t { |
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7 | int32_t latitude; /*< Latitude (WGS84), in degrees * 1E7*/ |
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8 | int32_t longitude; /*< Longitude (WGS84, in degrees * 1E7*/ |
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9 | int32_t altitude; /*< Altitude (AMSL), in meters * 1000 (positive for up)*/ |
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10 | float x; /*< Local X position of this position in the local coordinate frame*/ |
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11 | float y; /*< Local Y position of this position in the local coordinate frame*/ |
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12 | float z; /*< Local Z position of this position in the local coordinate frame*/ |
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13 | float q[4]; /*< World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground*/ |
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14 | float approach_x; /*< Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/ |
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15 | float approach_y; /*< Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/ |
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16 | float approach_z; /*< Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/ |
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17 | uint8_t target_system; /*< System ID.*/ |
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18 | }) mavlink_set_home_position_t; |
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19 | |
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20 | #define MAVLINK_MSG_ID_SET_HOME_POSITION_LEN 53 |
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21 | #define MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN 53 |
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22 | #define MAVLINK_MSG_ID_243_LEN 53 |
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23 | #define MAVLINK_MSG_ID_243_MIN_LEN 53 |
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24 | |
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25 | #define MAVLINK_MSG_ID_SET_HOME_POSITION_CRC 85 |
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26 | #define MAVLINK_MSG_ID_243_CRC 85 |
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27 | |
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28 | #define MAVLINK_MSG_SET_HOME_POSITION_FIELD_Q_LEN 4 |
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29 | |
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30 | #if MAVLINK_COMMAND_24BIT |
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31 | #define MAVLINK_MESSAGE_INFO_SET_HOME_POSITION { \ |
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32 | 243, \ |
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33 | "SET_HOME_POSITION", \ |
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34 | 11, \ |
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35 | { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_home_position_t, latitude) }, \ |
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36 | { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_home_position_t, longitude) }, \ |
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37 | { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_home_position_t, altitude) }, \ |
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38 | { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_home_position_t, x) }, \ |
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39 | { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_home_position_t, y) }, \ |
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40 | { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_home_position_t, z) }, \ |
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41 | { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_set_home_position_t, q) }, \ |
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42 | { "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_home_position_t, approach_x) }, \ |
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43 | { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_home_position_t, approach_y) }, \ |
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44 | { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_set_home_position_t, approach_z) }, \ |
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45 | { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_home_position_t, target_system) }, \ |
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46 | } \ |
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47 | } |
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48 | #else |
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49 | #define MAVLINK_MESSAGE_INFO_SET_HOME_POSITION { \ |
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50 | "SET_HOME_POSITION", \ |
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51 | 11, \ |
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52 | { { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_home_position_t, latitude) }, \ |
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53 | { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_home_position_t, longitude) }, \ |
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54 | { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_home_position_t, altitude) }, \ |
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55 | { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_home_position_t, x) }, \ |
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56 | { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_home_position_t, y) }, \ |
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57 | { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_home_position_t, z) }, \ |
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58 | { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_set_home_position_t, q) }, \ |
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59 | { "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_home_position_t, approach_x) }, \ |
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60 | { "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_home_position_t, approach_y) }, \ |
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61 | { "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_set_home_position_t, approach_z) }, \ |
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62 | { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_home_position_t, target_system) }, \ |
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63 | } \ |
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64 | } |
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65 | #endif |
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66 | |
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67 | /** |
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68 | * @brief Pack a set_home_position message |
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69 | * @param system_id ID of this system |
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70 | * @param component_id ID of this component (e.g. 200 for IMU) |
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71 | * @param msg The MAVLink message to compress the data into |
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72 | * |
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73 | * @param target_system System ID. |
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74 | * @param latitude Latitude (WGS84), in degrees * 1E7 |
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75 | * @param longitude Longitude (WGS84, in degrees * 1E7 |
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76 | * @param altitude Altitude (AMSL), in meters * 1000 (positive for up) |
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77 | * @param x Local X position of this position in the local coordinate frame |
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78 | * @param y Local Y position of this position in the local coordinate frame |
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79 | * @param z Local Z position of this position in the local coordinate frame |
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80 | * @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground |
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81 | * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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82 | * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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83 | * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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84 | * @return length of the message in bytes (excluding serial stream start sign) |
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85 | */ |
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86 | static inline uint16_t mavlink_msg_set_home_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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87 | uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z) |
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88 | { |
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89 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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90 | char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN]; |
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91 | _mav_put_int32_t(buf, 0, latitude); |
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92 | _mav_put_int32_t(buf, 4, longitude); |
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93 | _mav_put_int32_t(buf, 8, altitude); |
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94 | _mav_put_float(buf, 12, x); |
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95 | _mav_put_float(buf, 16, y); |
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96 | _mav_put_float(buf, 20, z); |
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97 | _mav_put_float(buf, 40, approach_x); |
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98 | _mav_put_float(buf, 44, approach_y); |
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99 | _mav_put_float(buf, 48, approach_z); |
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100 | _mav_put_uint8_t(buf, 52, target_system); |
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101 | _mav_put_float_array(buf, 24, q, 4); |
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102 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN); |
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103 | #else |
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104 | mavlink_set_home_position_t packet; |
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105 | packet.latitude = latitude; |
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106 | packet.longitude = longitude; |
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107 | packet.altitude = altitude; |
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108 | packet.x = x; |
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109 | packet.y = y; |
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110 | packet.z = z; |
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111 | packet.approach_x = approach_x; |
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112 | packet.approach_y = approach_y; |
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113 | packet.approach_z = approach_z; |
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114 | packet.target_system = target_system; |
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115 | mav_array_memcpy(packet.q, q, sizeof(float)*4); |
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116 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN); |
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117 | #endif |
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118 | |
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119 | msg->msgid = MAVLINK_MSG_ID_SET_HOME_POSITION; |
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120 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); |
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121 | } |
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122 | |
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123 | /** |
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124 | * @brief Pack a set_home_position message on a channel |
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125 | * @param system_id ID of this system |
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126 | * @param component_id ID of this component (e.g. 200 for IMU) |
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127 | * @param chan The MAVLink channel this message will be sent over |
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128 | * @param msg The MAVLink message to compress the data into |
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129 | * @param target_system System ID. |
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130 | * @param latitude Latitude (WGS84), in degrees * 1E7 |
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131 | * @param longitude Longitude (WGS84, in degrees * 1E7 |
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132 | * @param altitude Altitude (AMSL), in meters * 1000 (positive for up) |
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133 | * @param x Local X position of this position in the local coordinate frame |
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134 | * @param y Local Y position of this position in the local coordinate frame |
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135 | * @param z Local Z position of this position in the local coordinate frame |
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136 | * @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground |
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137 | * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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138 | * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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139 | * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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140 | * @return length of the message in bytes (excluding serial stream start sign) |
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141 | */ |
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142 | static inline uint16_t mavlink_msg_set_home_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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143 | mavlink_message_t* msg, |
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144 | uint8_t target_system,int32_t latitude,int32_t longitude,int32_t altitude,float x,float y,float z,const float *q,float approach_x,float approach_y,float approach_z) |
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145 | { |
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146 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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147 | char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN]; |
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148 | _mav_put_int32_t(buf, 0, latitude); |
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149 | _mav_put_int32_t(buf, 4, longitude); |
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150 | _mav_put_int32_t(buf, 8, altitude); |
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151 | _mav_put_float(buf, 12, x); |
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152 | _mav_put_float(buf, 16, y); |
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153 | _mav_put_float(buf, 20, z); |
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154 | _mav_put_float(buf, 40, approach_x); |
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155 | _mav_put_float(buf, 44, approach_y); |
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156 | _mav_put_float(buf, 48, approach_z); |
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157 | _mav_put_uint8_t(buf, 52, target_system); |
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158 | _mav_put_float_array(buf, 24, q, 4); |
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159 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN); |
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160 | #else |
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161 | mavlink_set_home_position_t packet; |
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162 | packet.latitude = latitude; |
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163 | packet.longitude = longitude; |
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164 | packet.altitude = altitude; |
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165 | packet.x = x; |
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166 | packet.y = y; |
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167 | packet.z = z; |
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168 | packet.approach_x = approach_x; |
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169 | packet.approach_y = approach_y; |
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170 | packet.approach_z = approach_z; |
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171 | packet.target_system = target_system; |
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172 | mav_array_memcpy(packet.q, q, sizeof(float)*4); |
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173 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN); |
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174 | #endif |
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175 | |
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176 | msg->msgid = MAVLINK_MSG_ID_SET_HOME_POSITION; |
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177 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); |
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178 | } |
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179 | |
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180 | /** |
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181 | * @brief Encode a set_home_position struct |
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182 | * |
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183 | * @param system_id ID of this system |
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184 | * @param component_id ID of this component (e.g. 200 for IMU) |
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185 | * @param msg The MAVLink message to compress the data into |
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186 | * @param set_home_position C-struct to read the message contents from |
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187 | */ |
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188 | static inline uint16_t mavlink_msg_set_home_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_home_position_t* set_home_position) |
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189 | { |
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190 | return mavlink_msg_set_home_position_pack(system_id, component_id, msg, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z); |
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191 | } |
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192 | |
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193 | /** |
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194 | * @brief Encode a set_home_position struct on a channel |
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195 | * |
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196 | * @param system_id ID of this system |
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197 | * @param component_id ID of this component (e.g. 200 for IMU) |
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198 | * @param chan The MAVLink channel this message will be sent over |
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199 | * @param msg The MAVLink message to compress the data into |
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200 | * @param set_home_position C-struct to read the message contents from |
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201 | */ |
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202 | static inline uint16_t mavlink_msg_set_home_position_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_home_position_t* set_home_position) |
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203 | { |
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204 | return mavlink_msg_set_home_position_pack_chan(system_id, component_id, chan, msg, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z); |
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205 | } |
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206 | |
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207 | /** |
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208 | * @brief Send a set_home_position message |
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209 | * @param chan MAVLink channel to send the message |
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210 | * |
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211 | * @param target_system System ID. |
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212 | * @param latitude Latitude (WGS84), in degrees * 1E7 |
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213 | * @param longitude Longitude (WGS84, in degrees * 1E7 |
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214 | * @param altitude Altitude (AMSL), in meters * 1000 (positive for up) |
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215 | * @param x Local X position of this position in the local coordinate frame |
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216 | * @param y Local Y position of this position in the local coordinate frame |
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217 | * @param z Local Z position of this position in the local coordinate frame |
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218 | * @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground |
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219 | * @param approach_x Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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220 | * @param approach_y Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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221 | * @param approach_z Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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222 | */ |
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223 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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224 | |
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225 | static inline void mavlink_msg_set_home_position_send(mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z) |
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226 | { |
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227 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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228 | char buf[MAVLINK_MSG_ID_SET_HOME_POSITION_LEN]; |
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229 | _mav_put_int32_t(buf, 0, latitude); |
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230 | _mav_put_int32_t(buf, 4, longitude); |
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231 | _mav_put_int32_t(buf, 8, altitude); |
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232 | _mav_put_float(buf, 12, x); |
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233 | _mav_put_float(buf, 16, y); |
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234 | _mav_put_float(buf, 20, z); |
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235 | _mav_put_float(buf, 40, approach_x); |
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236 | _mav_put_float(buf, 44, approach_y); |
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237 | _mav_put_float(buf, 48, approach_z); |
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238 | _mav_put_uint8_t(buf, 52, target_system); |
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239 | _mav_put_float_array(buf, 24, q, 4); |
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240 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, buf, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); |
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241 | #else |
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242 | mavlink_set_home_position_t packet; |
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243 | packet.latitude = latitude; |
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244 | packet.longitude = longitude; |
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245 | packet.altitude = altitude; |
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246 | packet.x = x; |
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247 | packet.y = y; |
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248 | packet.z = z; |
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249 | packet.approach_x = approach_x; |
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250 | packet.approach_y = approach_y; |
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251 | packet.approach_z = approach_z; |
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252 | packet.target_system = target_system; |
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253 | mav_array_memcpy(packet.q, q, sizeof(float)*4); |
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254 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)&packet, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); |
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255 | #endif |
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256 | } |
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257 | |
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258 | /** |
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259 | * @brief Send a set_home_position message |
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260 | * @param chan MAVLink channel to send the message |
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261 | * @param struct The MAVLink struct to serialize |
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262 | */ |
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263 | static inline void mavlink_msg_set_home_position_send_struct(mavlink_channel_t chan, const mavlink_set_home_position_t* set_home_position) |
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264 | { |
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265 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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266 | mavlink_msg_set_home_position_send(chan, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z); |
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267 | #else |
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268 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)set_home_position, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); |
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269 | #endif |
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270 | } |
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271 | |
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272 | #if MAVLINK_MSG_ID_SET_HOME_POSITION_LEN <= MAVLINK_MAX_PAYLOAD_LEN |
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273 | /* |
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274 | This varient of _send() can be used to save stack space by re-using |
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275 | memory from the receive buffer. The caller provides a |
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276 | mavlink_message_t which is the size of a full mavlink message. This |
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277 | is usually the receive buffer for the channel, and allows a reply to an |
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278 | incoming message with minimum stack space usage. |
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279 | */ |
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280 | static inline void mavlink_msg_set_home_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z) |
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281 | { |
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282 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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283 | char *buf = (char *)msgbuf; |
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284 | _mav_put_int32_t(buf, 0, latitude); |
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285 | _mav_put_int32_t(buf, 4, longitude); |
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286 | _mav_put_int32_t(buf, 8, altitude); |
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287 | _mav_put_float(buf, 12, x); |
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288 | _mav_put_float(buf, 16, y); |
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289 | _mav_put_float(buf, 20, z); |
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290 | _mav_put_float(buf, 40, approach_x); |
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291 | _mav_put_float(buf, 44, approach_y); |
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292 | _mav_put_float(buf, 48, approach_z); |
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293 | _mav_put_uint8_t(buf, 52, target_system); |
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294 | _mav_put_float_array(buf, 24, q, 4); |
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295 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, buf, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); |
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296 | #else |
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297 | mavlink_set_home_position_t *packet = (mavlink_set_home_position_t *)msgbuf; |
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298 | packet->latitude = latitude; |
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299 | packet->longitude = longitude; |
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300 | packet->altitude = altitude; |
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301 | packet->x = x; |
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302 | packet->y = y; |
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303 | packet->z = z; |
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304 | packet->approach_x = approach_x; |
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305 | packet->approach_y = approach_y; |
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306 | packet->approach_z = approach_z; |
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307 | packet->target_system = target_system; |
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308 | mav_array_memcpy(packet->q, q, sizeof(float)*4); |
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309 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)packet, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC); |
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310 | #endif |
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311 | } |
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312 | #endif |
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313 | |
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314 | #endif |
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315 | |
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316 | // MESSAGE SET_HOME_POSITION UNPACKING |
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317 | |
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318 | |
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319 | /** |
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320 | * @brief Get field target_system from set_home_position message |
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321 | * |
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322 | * @return System ID. |
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323 | */ |
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324 | static inline uint8_t mavlink_msg_set_home_position_get_target_system(const mavlink_message_t* msg) |
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325 | { |
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326 | return _MAV_RETURN_uint8_t(msg, 52); |
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327 | } |
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328 | |
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329 | /** |
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330 | * @brief Get field latitude from set_home_position message |
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331 | * |
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332 | * @return Latitude (WGS84), in degrees * 1E7 |
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333 | */ |
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334 | static inline int32_t mavlink_msg_set_home_position_get_latitude(const mavlink_message_t* msg) |
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335 | { |
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336 | return _MAV_RETURN_int32_t(msg, 0); |
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337 | } |
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338 | |
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339 | /** |
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340 | * @brief Get field longitude from set_home_position message |
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341 | * |
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342 | * @return Longitude (WGS84, in degrees * 1E7 |
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343 | */ |
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344 | static inline int32_t mavlink_msg_set_home_position_get_longitude(const mavlink_message_t* msg) |
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345 | { |
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346 | return _MAV_RETURN_int32_t(msg, 4); |
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347 | } |
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348 | |
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349 | /** |
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350 | * @brief Get field altitude from set_home_position message |
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351 | * |
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352 | * @return Altitude (AMSL), in meters * 1000 (positive for up) |
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353 | */ |
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354 | static inline int32_t mavlink_msg_set_home_position_get_altitude(const mavlink_message_t* msg) |
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355 | { |
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356 | return _MAV_RETURN_int32_t(msg, 8); |
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357 | } |
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358 | |
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359 | /** |
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360 | * @brief Get field x from set_home_position message |
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361 | * |
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362 | * @return Local X position of this position in the local coordinate frame |
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363 | */ |
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364 | static inline float mavlink_msg_set_home_position_get_x(const mavlink_message_t* msg) |
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365 | { |
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366 | return _MAV_RETURN_float(msg, 12); |
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367 | } |
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368 | |
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369 | /** |
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370 | * @brief Get field y from set_home_position message |
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371 | * |
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372 | * @return Local Y position of this position in the local coordinate frame |
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373 | */ |
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374 | static inline float mavlink_msg_set_home_position_get_y(const mavlink_message_t* msg) |
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375 | { |
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376 | return _MAV_RETURN_float(msg, 16); |
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377 | } |
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378 | |
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379 | /** |
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380 | * @brief Get field z from set_home_position message |
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381 | * |
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382 | * @return Local Z position of this position in the local coordinate frame |
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383 | */ |
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384 | static inline float mavlink_msg_set_home_position_get_z(const mavlink_message_t* msg) |
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385 | { |
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386 | return _MAV_RETURN_float(msg, 20); |
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387 | } |
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388 | |
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389 | /** |
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390 | * @brief Get field q from set_home_position message |
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391 | * |
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392 | * @return World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground |
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393 | */ |
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394 | static inline uint16_t mavlink_msg_set_home_position_get_q(const mavlink_message_t* msg, float *q) |
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395 | { |
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396 | return _MAV_RETURN_float_array(msg, q, 4, 24); |
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397 | } |
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398 | |
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399 | /** |
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400 | * @brief Get field approach_x from set_home_position message |
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401 | * |
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402 | * @return Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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403 | */ |
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404 | static inline float mavlink_msg_set_home_position_get_approach_x(const mavlink_message_t* msg) |
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405 | { |
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406 | return _MAV_RETURN_float(msg, 40); |
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407 | } |
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408 | |
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409 | /** |
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410 | * @brief Get field approach_y from set_home_position message |
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411 | * |
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412 | * @return Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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413 | */ |
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414 | static inline float mavlink_msg_set_home_position_get_approach_y(const mavlink_message_t* msg) |
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415 | { |
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416 | return _MAV_RETURN_float(msg, 44); |
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417 | } |
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418 | |
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419 | /** |
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420 | * @brief Get field approach_z from set_home_position message |
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421 | * |
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422 | * @return Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone. |
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423 | */ |
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424 | static inline float mavlink_msg_set_home_position_get_approach_z(const mavlink_message_t* msg) |
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425 | { |
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426 | return _MAV_RETURN_float(msg, 48); |
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427 | } |
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428 | |
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429 | /** |
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430 | * @brief Decode a set_home_position message into a struct |
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431 | * |
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432 | * @param msg The message to decode |
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433 | * @param set_home_position C-struct to decode the message contents into |
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434 | */ |
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435 | static inline void mavlink_msg_set_home_position_decode(const mavlink_message_t* msg, mavlink_set_home_position_t* set_home_position) |
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436 | { |
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437 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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438 | set_home_position->latitude = mavlink_msg_set_home_position_get_latitude(msg); |
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439 | set_home_position->longitude = mavlink_msg_set_home_position_get_longitude(msg); |
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440 | set_home_position->altitude = mavlink_msg_set_home_position_get_altitude(msg); |
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441 | set_home_position->x = mavlink_msg_set_home_position_get_x(msg); |
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442 | set_home_position->y = mavlink_msg_set_home_position_get_y(msg); |
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443 | set_home_position->z = mavlink_msg_set_home_position_get_z(msg); |
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444 | mavlink_msg_set_home_position_get_q(msg, set_home_position->q); |
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445 | set_home_position->approach_x = mavlink_msg_set_home_position_get_approach_x(msg); |
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446 | set_home_position->approach_y = mavlink_msg_set_home_position_get_approach_y(msg); |
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447 | set_home_position->approach_z = mavlink_msg_set_home_position_get_approach_z(msg); |
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448 | set_home_position->target_system = mavlink_msg_set_home_position_get_target_system(msg); |
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449 | #else |
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450 | uint8_t len = msg->len < MAVLINK_MSG_ID_SET_HOME_POSITION_LEN? msg->len : MAVLINK_MSG_ID_SET_HOME_POSITION_LEN; |
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451 | memset(set_home_position, 0, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN); |
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452 | memcpy(set_home_position, _MAV_PAYLOAD(msg), len); |
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453 | #endif |
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454 | } |
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