[324] | 1 | // MESSAGE GLOBAL_POSITION_INT_COV PACKING
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| 2 |
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| 3 | #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV 63
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| 4 |
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| 5 | typedef struct MAVLINK_PACKED __mavlink_global_position_int_cov_t
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| 6 | {
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| 7 | uint64_t time_utc; /*< Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.*/
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| 8 | uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
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| 9 | int32_t lat; /*< Latitude, expressed as degrees * 1E7*/
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| 10 | int32_t lon; /*< Longitude, expressed as degrees * 1E7*/
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| 11 | int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters), above MSL*/
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| 12 | int32_t relative_alt; /*< Altitude above ground in meters, expressed as * 1000 (millimeters)*/
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| 13 | float vx; /*< Ground X Speed (Latitude), expressed as m/s*/
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| 14 | float vy; /*< Ground Y Speed (Longitude), expressed as m/s*/
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| 15 | float vz; /*< Ground Z Speed (Altitude), expressed as m/s*/
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| 16 | float covariance[36]; /*< Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)*/
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| 17 | uint8_t estimator_type; /*< Class id of the estimator this estimate originated from.*/
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| 18 | } mavlink_global_position_int_cov_t;
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| 19 |
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| 20 | #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN 185
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| 21 | #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN 185
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| 22 | #define MAVLINK_MSG_ID_63_LEN 185
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| 23 | #define MAVLINK_MSG_ID_63_MIN_LEN 185
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| 24 |
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| 25 | #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC 51
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| 26 | #define MAVLINK_MSG_ID_63_CRC 51
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| 27 |
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| 28 | #define MAVLINK_MSG_GLOBAL_POSITION_INT_COV_FIELD_COVARIANCE_LEN 36
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| 29 |
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| 30 | #if MAVLINK_COMMAND_24BIT
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| 31 | #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT_COV { \
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| 32 | 63, \
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| 33 | "GLOBAL_POSITION_INT_COV", \
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| 34 | 11, \
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| 35 | { { "time_utc", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_int_cov_t, time_utc) }, \
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| 36 | { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_global_position_int_cov_t, time_boot_ms) }, \
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| 37 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_cov_t, lat) }, \
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| 38 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_cov_t, lon) }, \
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| 39 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_global_position_int_cov_t, alt) }, \
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| 40 | { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_global_position_int_cov_t, relative_alt) }, \
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| 41 | { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_int_cov_t, vx) }, \
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| 42 | { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_global_position_int_cov_t, vy) }, \
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| 43 | { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_global_position_int_cov_t, vz) }, \
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| 44 | { "covariance", NULL, MAVLINK_TYPE_FLOAT, 36, 40, offsetof(mavlink_global_position_int_cov_t, covariance) }, \
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| 45 | { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 184, offsetof(mavlink_global_position_int_cov_t, estimator_type) }, \
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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_GLOBAL_POSITION_INT_COV { \
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| 50 | "GLOBAL_POSITION_INT_COV", \
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| 51 | 11, \
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| 52 | { { "time_utc", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_int_cov_t, time_utc) }, \
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| 53 | { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_global_position_int_cov_t, time_boot_ms) }, \
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| 54 | { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_cov_t, lat) }, \
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| 55 | { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_cov_t, lon) }, \
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| 56 | { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_global_position_int_cov_t, alt) }, \
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| 57 | { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_global_position_int_cov_t, relative_alt) }, \
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| 58 | { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_int_cov_t, vx) }, \
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| 59 | { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_global_position_int_cov_t, vy) }, \
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| 60 | { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_global_position_int_cov_t, vz) }, \
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| 61 | { "covariance", NULL, MAVLINK_TYPE_FLOAT, 36, 40, offsetof(mavlink_global_position_int_cov_t, covariance) }, \
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| 62 | { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 184, offsetof(mavlink_global_position_int_cov_t, estimator_type) }, \
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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 global_position_int_cov 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 time_boot_ms Timestamp (milliseconds since system boot)
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| 74 | * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
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| 75 | * @param estimator_type Class id of the estimator this estimate originated from.
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| 76 | * @param lat Latitude, expressed as degrees * 1E7
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| 77 | * @param lon Longitude, expressed as degrees * 1E7
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| 78 | * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
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| 79 | * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
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| 80 | * @param vx Ground X Speed (Latitude), expressed as m/s
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| 81 | * @param vy Ground Y Speed (Longitude), expressed as m/s
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| 82 | * @param vz Ground Z Speed (Altitude), expressed as m/s
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| 83 | * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
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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_global_position_int_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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| 87 | uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, float vx, float vy, float vz, const float *covariance)
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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_GLOBAL_POSITION_INT_COV_LEN];
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| 91 | _mav_put_uint64_t(buf, 0, time_utc);
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| 92 | _mav_put_uint32_t(buf, 8, time_boot_ms);
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| 93 | _mav_put_int32_t(buf, 12, lat);
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| 94 | _mav_put_int32_t(buf, 16, lon);
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| 95 | _mav_put_int32_t(buf, 20, alt);
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| 96 | _mav_put_int32_t(buf, 24, relative_alt);
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| 97 | _mav_put_float(buf, 28, vx);
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| 98 | _mav_put_float(buf, 32, vy);
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| 99 | _mav_put_float(buf, 36, vz);
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| 100 | _mav_put_uint8_t(buf, 184, estimator_type);
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| 101 | _mav_put_float_array(buf, 40, covariance, 36);
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| 102 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
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| 103 | #else
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| 104 | mavlink_global_position_int_cov_t packet;
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| 105 | packet.time_utc = time_utc;
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| 106 | packet.time_boot_ms = time_boot_ms;
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| 107 | packet.lat = lat;
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| 108 | packet.lon = lon;
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| 109 | packet.alt = alt;
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| 110 | packet.relative_alt = relative_alt;
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| 111 | packet.vx = vx;
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| 112 | packet.vy = vy;
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| 113 | packet.vz = vz;
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| 114 | packet.estimator_type = estimator_type;
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| 115 | mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
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| 116 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
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| 117 | #endif
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| 118 |
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| 119 | msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV;
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| 120 | return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
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| 121 | }
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| 122 |
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| 123 | /**
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| 124 | * @brief Pack a global_position_int_cov 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 time_boot_ms Timestamp (milliseconds since system boot)
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| 130 | * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
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| 131 | * @param estimator_type Class id of the estimator this estimate originated from.
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| 132 | * @param lat Latitude, expressed as degrees * 1E7
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| 133 | * @param lon Longitude, expressed as degrees * 1E7
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| 134 | * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
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| 135 | * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
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| 136 | * @param vx Ground X Speed (Latitude), expressed as m/s
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| 137 | * @param vy Ground Y Speed (Longitude), expressed as m/s
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| 138 | * @param vz Ground Z Speed (Altitude), expressed as m/s
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| 139 | * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
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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_global_position_int_cov_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 | uint32_t time_boot_ms,uint64_t time_utc,uint8_t estimator_type,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,float vx,float vy,float vz,const float *covariance)
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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_GLOBAL_POSITION_INT_COV_LEN];
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| 148 | _mav_put_uint64_t(buf, 0, time_utc);
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| 149 | _mav_put_uint32_t(buf, 8, time_boot_ms);
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| 150 | _mav_put_int32_t(buf, 12, lat);
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| 151 | _mav_put_int32_t(buf, 16, lon);
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| 152 | _mav_put_int32_t(buf, 20, alt);
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| 153 | _mav_put_int32_t(buf, 24, relative_alt);
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| 154 | _mav_put_float(buf, 28, vx);
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| 155 | _mav_put_float(buf, 32, vy);
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| 156 | _mav_put_float(buf, 36, vz);
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| 157 | _mav_put_uint8_t(buf, 184, estimator_type);
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| 158 | _mav_put_float_array(buf, 40, covariance, 36);
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| 159 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
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| 160 | #else
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| 161 | mavlink_global_position_int_cov_t packet;
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| 162 | packet.time_utc = time_utc;
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| 163 | packet.time_boot_ms = time_boot_ms;
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| 164 | packet.lat = lat;
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| 165 | packet.lon = lon;
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| 166 | packet.alt = alt;
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| 167 | packet.relative_alt = relative_alt;
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| 168 | packet.vx = vx;
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| 169 | packet.vy = vy;
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| 170 | packet.vz = vz;
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| 171 | packet.estimator_type = estimator_type;
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| 172 | mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
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| 173 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
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| 174 | #endif
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| 175 |
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| 176 | msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV;
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| 177 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
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| 178 | }
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| 179 |
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| 180 | /**
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| 181 | * @brief Encode a global_position_int_cov 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 global_position_int_cov C-struct to read the message contents from
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| 187 | */
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| 188 | static inline uint16_t mavlink_msg_global_position_int_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_cov_t* global_position_int_cov)
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| 189 | {
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| 190 | return mavlink_msg_global_position_int_cov_pack(system_id, component_id, msg, global_position_int_cov->time_boot_ms, global_position_int_cov->time_utc, global_position_int_cov->estimator_type, global_position_int_cov->lat, global_position_int_cov->lon, global_position_int_cov->alt, global_position_int_cov->relative_alt, global_position_int_cov->vx, global_position_int_cov->vy, global_position_int_cov->vz, global_position_int_cov->covariance);
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| 191 | }
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| 192 |
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| 193 | /**
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| 194 | * @brief Encode a global_position_int_cov 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 global_position_int_cov C-struct to read the message contents from
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| 201 | */
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| 202 | static inline uint16_t mavlink_msg_global_position_int_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_cov_t* global_position_int_cov)
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| 203 | {
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| 204 | return mavlink_msg_global_position_int_cov_pack_chan(system_id, component_id, chan, msg, global_position_int_cov->time_boot_ms, global_position_int_cov->time_utc, global_position_int_cov->estimator_type, global_position_int_cov->lat, global_position_int_cov->lon, global_position_int_cov->alt, global_position_int_cov->relative_alt, global_position_int_cov->vx, global_position_int_cov->vy, global_position_int_cov->vz, global_position_int_cov->covariance);
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| 205 | }
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| 206 |
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| 207 | /**
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| 208 | * @brief Send a global_position_int_cov 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 time_boot_ms Timestamp (milliseconds since system boot)
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| 212 | * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
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| 213 | * @param estimator_type Class id of the estimator this estimate originated from.
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| 214 | * @param lat Latitude, expressed as degrees * 1E7
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| 215 | * @param lon Longitude, expressed as degrees * 1E7
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| 216 | * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
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| 217 | * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
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| 218 | * @param vx Ground X Speed (Latitude), expressed as m/s
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| 219 | * @param vy Ground Y Speed (Longitude), expressed as m/s
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| 220 | * @param vz Ground Z Speed (Altitude), expressed as m/s
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| 221 | * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
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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_global_position_int_cov_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, float vx, float vy, float vz, const float *covariance)
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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_GLOBAL_POSITION_INT_COV_LEN];
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| 229 | _mav_put_uint64_t(buf, 0, time_utc);
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| 230 | _mav_put_uint32_t(buf, 8, time_boot_ms);
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| 231 | _mav_put_int32_t(buf, 12, lat);
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| 232 | _mav_put_int32_t(buf, 16, lon);
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| 233 | _mav_put_int32_t(buf, 20, alt);
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| 234 | _mav_put_int32_t(buf, 24, relative_alt);
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| 235 | _mav_put_float(buf, 28, vx);
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| 236 | _mav_put_float(buf, 32, vy);
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| 237 | _mav_put_float(buf, 36, vz);
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| 238 | _mav_put_uint8_t(buf, 184, estimator_type);
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| 239 | _mav_put_float_array(buf, 40, covariance, 36);
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| 240 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
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| 241 | #else
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| 242 | mavlink_global_position_int_cov_t packet;
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| 243 | packet.time_utc = time_utc;
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| 244 | packet.time_boot_ms = time_boot_ms;
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| 245 | packet.lat = lat;
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| 246 | packet.lon = lon;
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| 247 | packet.alt = alt;
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| 248 | packet.relative_alt = relative_alt;
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| 249 | packet.vx = vx;
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| 250 | packet.vy = vy;
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| 251 | packet.vz = vz;
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| 252 | packet.estimator_type = estimator_type;
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| 253 | mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
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| 254 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
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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 global_position_int_cov 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_global_position_int_cov_send_struct(mavlink_channel_t chan, const mavlink_global_position_int_cov_t* global_position_int_cov)
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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_global_position_int_cov_send(chan, global_position_int_cov->time_boot_ms, global_position_int_cov->time_utc, global_position_int_cov->estimator_type, global_position_int_cov->lat, global_position_int_cov->lon, global_position_int_cov->alt, global_position_int_cov->relative_alt, global_position_int_cov->vx, global_position_int_cov->vy, global_position_int_cov->vz, global_position_int_cov->covariance);
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| 267 | #else
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| 268 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)global_position_int_cov, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
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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_GLOBAL_POSITION_INT_COV_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_global_position_int_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, float vx, float vy, float vz, const float *covariance)
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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_uint64_t(buf, 0, time_utc);
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| 285 | _mav_put_uint32_t(buf, 8, time_boot_ms);
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| 286 | _mav_put_int32_t(buf, 12, lat);
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| 287 | _mav_put_int32_t(buf, 16, lon);
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| 288 | _mav_put_int32_t(buf, 20, alt);
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| 289 | _mav_put_int32_t(buf, 24, relative_alt);
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| 290 | _mav_put_float(buf, 28, vx);
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| 291 | _mav_put_float(buf, 32, vy);
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| 292 | _mav_put_float(buf, 36, vz);
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| 293 | _mav_put_uint8_t(buf, 184, estimator_type);
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| 294 | _mav_put_float_array(buf, 40, covariance, 36);
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| 295 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
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| 296 | #else
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| 297 | mavlink_global_position_int_cov_t *packet = (mavlink_global_position_int_cov_t *)msgbuf;
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| 298 | packet->time_utc = time_utc;
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| 299 | packet->time_boot_ms = time_boot_ms;
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| 300 | packet->lat = lat;
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| 301 | packet->lon = lon;
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| 302 | packet->alt = alt;
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| 303 | packet->relative_alt = relative_alt;
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| 304 | packet->vx = vx;
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| 305 | packet->vy = vy;
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| 306 | packet->vz = vz;
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| 307 | packet->estimator_type = estimator_type;
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| 308 | mav_array_memcpy(packet->covariance, covariance, sizeof(float)*36);
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| 309 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
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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 GLOBAL_POSITION_INT_COV UNPACKING
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| 317 |
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| 318 |
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| 319 | /**
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| 320 | * @brief Get field time_boot_ms from global_position_int_cov message
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| 321 | *
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| 322 | * @return Timestamp (milliseconds since system boot)
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| 323 | */
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| 324 | static inline uint32_t mavlink_msg_global_position_int_cov_get_time_boot_ms(const mavlink_message_t* msg)
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| 325 | {
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| 326 | return _MAV_RETURN_uint32_t(msg, 8);
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| 327 | }
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| 328 |
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| 329 | /**
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| 330 | * @brief Get field time_utc from global_position_int_cov message
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| 331 | *
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| 332 | * @return Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
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| 333 | */
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| 334 | static inline uint64_t mavlink_msg_global_position_int_cov_get_time_utc(const mavlink_message_t* msg)
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| 335 | {
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| 336 | return _MAV_RETURN_uint64_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 estimator_type from global_position_int_cov message
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| 341 | *
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| 342 | * @return Class id of the estimator this estimate originated from.
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| 343 | */
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| 344 | static inline uint8_t mavlink_msg_global_position_int_cov_get_estimator_type(const mavlink_message_t* msg)
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| 345 | {
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| 346 | return _MAV_RETURN_uint8_t(msg, 184);
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| 347 | }
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| 348 |
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| 349 | /**
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| 350 | * @brief Get field lat from global_position_int_cov message
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| 351 | *
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| 352 | * @return Latitude, expressed as degrees * 1E7
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| 353 | */
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| 354 | static inline int32_t mavlink_msg_global_position_int_cov_get_lat(const mavlink_message_t* msg)
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| 355 | {
|
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| 356 | return _MAV_RETURN_int32_t(msg, 12);
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| 357 | }
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| 358 |
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| 359 | /**
|
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| 360 | * @brief Get field lon from global_position_int_cov message
|
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| 361 | *
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| 362 | * @return Longitude, expressed as degrees * 1E7
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| 363 | */
|
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| 364 | static inline int32_t mavlink_msg_global_position_int_cov_get_lon(const mavlink_message_t* msg)
|
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| 365 | {
|
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| 366 | return _MAV_RETURN_int32_t(msg, 16);
|
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| 367 | }
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| 368 |
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| 369 | /**
|
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| 370 | * @brief Get field alt from global_position_int_cov message
|
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| 371 | *
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| 372 | * @return Altitude in meters, expressed as * 1000 (millimeters), above MSL
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| 373 | */
|
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| 374 | static inline int32_t mavlink_msg_global_position_int_cov_get_alt(const mavlink_message_t* msg)
|
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| 375 | {
|
---|
| 376 | return _MAV_RETURN_int32_t(msg, 20);
|
---|
| 377 | }
|
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| 378 |
|
---|
| 379 | /**
|
---|
| 380 | * @brief Get field relative_alt from global_position_int_cov message
|
---|
| 381 | *
|
---|
| 382 | * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
|
---|
| 383 | */
|
---|
| 384 | static inline int32_t mavlink_msg_global_position_int_cov_get_relative_alt(const mavlink_message_t* msg)
|
---|
| 385 | {
|
---|
| 386 | return _MAV_RETURN_int32_t(msg, 24);
|
---|
| 387 | }
|
---|
| 388 |
|
---|
| 389 | /**
|
---|
| 390 | * @brief Get field vx from global_position_int_cov message
|
---|
| 391 | *
|
---|
| 392 | * @return Ground X Speed (Latitude), expressed as m/s
|
---|
| 393 | */
|
---|
| 394 | static inline float mavlink_msg_global_position_int_cov_get_vx(const mavlink_message_t* msg)
|
---|
| 395 | {
|
---|
| 396 | return _MAV_RETURN_float(msg, 28);
|
---|
| 397 | }
|
---|
| 398 |
|
---|
| 399 | /**
|
---|
| 400 | * @brief Get field vy from global_position_int_cov message
|
---|
| 401 | *
|
---|
| 402 | * @return Ground Y Speed (Longitude), expressed as m/s
|
---|
| 403 | */
|
---|
| 404 | static inline float mavlink_msg_global_position_int_cov_get_vy(const mavlink_message_t* msg)
|
---|
| 405 | {
|
---|
| 406 | return _MAV_RETURN_float(msg, 32);
|
---|
| 407 | }
|
---|
| 408 |
|
---|
| 409 | /**
|
---|
| 410 | * @brief Get field vz from global_position_int_cov message
|
---|
| 411 | *
|
---|
| 412 | * @return Ground Z Speed (Altitude), expressed as m/s
|
---|
| 413 | */
|
---|
| 414 | static inline float mavlink_msg_global_position_int_cov_get_vz(const mavlink_message_t* msg)
|
---|
| 415 | {
|
---|
| 416 | return _MAV_RETURN_float(msg, 36);
|
---|
| 417 | }
|
---|
| 418 |
|
---|
| 419 | /**
|
---|
| 420 | * @brief Get field covariance from global_position_int_cov message
|
---|
| 421 | *
|
---|
| 422 | * @return Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
|
---|
| 423 | */
|
---|
| 424 | static inline uint16_t mavlink_msg_global_position_int_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
|
---|
| 425 | {
|
---|
| 426 | return _MAV_RETURN_float_array(msg, covariance, 36, 40);
|
---|
| 427 | }
|
---|
| 428 |
|
---|
| 429 | /**
|
---|
| 430 | * @brief Decode a global_position_int_cov message into a struct
|
---|
| 431 | *
|
---|
| 432 | * @param msg The message to decode
|
---|
| 433 | * @param global_position_int_cov C-struct to decode the message contents into
|
---|
| 434 | */
|
---|
| 435 | static inline void mavlink_msg_global_position_int_cov_decode(const mavlink_message_t* msg, mavlink_global_position_int_cov_t* global_position_int_cov)
|
---|
| 436 | {
|
---|
| 437 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
---|
| 438 | global_position_int_cov->time_utc = mavlink_msg_global_position_int_cov_get_time_utc(msg);
|
---|
| 439 | global_position_int_cov->time_boot_ms = mavlink_msg_global_position_int_cov_get_time_boot_ms(msg);
|
---|
| 440 | global_position_int_cov->lat = mavlink_msg_global_position_int_cov_get_lat(msg);
|
---|
| 441 | global_position_int_cov->lon = mavlink_msg_global_position_int_cov_get_lon(msg);
|
---|
| 442 | global_position_int_cov->alt = mavlink_msg_global_position_int_cov_get_alt(msg);
|
---|
| 443 | global_position_int_cov->relative_alt = mavlink_msg_global_position_int_cov_get_relative_alt(msg);
|
---|
| 444 | global_position_int_cov->vx = mavlink_msg_global_position_int_cov_get_vx(msg);
|
---|
| 445 | global_position_int_cov->vy = mavlink_msg_global_position_int_cov_get_vy(msg);
|
---|
| 446 | global_position_int_cov->vz = mavlink_msg_global_position_int_cov_get_vz(msg);
|
---|
| 447 | mavlink_msg_global_position_int_cov_get_covariance(msg, global_position_int_cov->covariance);
|
---|
| 448 | global_position_int_cov->estimator_type = mavlink_msg_global_position_int_cov_get_estimator_type(msg);
|
---|
| 449 | #else
|
---|
| 450 | uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN;
|
---|
| 451 | memset(global_position_int_cov, 0, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
|
---|
| 452 | memcpy(global_position_int_cov, _MAV_PAYLOAD(msg), len);
|
---|
| 453 | #endif
|
---|
| 454 | }
|
---|