[324] | 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 | typedef struct MAVLINK_PACKED __mavlink_follow_target_t
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| 6 | {
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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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