source: flair-src/trunk/tools/Controller/Mavlink/src/include/common/mavlink_msg_global_vision_position_estimate.h @ 88

Last change on this file since 88 was 88, checked in by Sanahuja Guillaume, 5 years ago

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File size: 15.8 KB
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1// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE PACKING
2
3#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE 101
4
5typedef struct MAVLINK_PACKED __mavlink_global_vision_position_estimate_t
6{
7 uint64_t usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
8 float x; /*< Global X position*/
9 float y; /*< Global Y position*/
10 float z; /*< Global Z position*/
11 float roll; /*< Roll angle in rad*/
12 float pitch; /*< Pitch angle in rad*/
13 float yaw; /*< Yaw angle in rad*/
14} mavlink_global_vision_position_estimate_t;
15
16#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 32
17#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN 32
18#define MAVLINK_MSG_ID_101_LEN 32
19#define MAVLINK_MSG_ID_101_MIN_LEN 32
20
21#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC 102
22#define MAVLINK_MSG_ID_101_CRC 102
23
24
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
28        101, \
29        "GLOBAL_VISION_POSITION_ESTIMATE", \
30        7, \
31        {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
32         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
33         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
34         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
35         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
36         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
37         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
38         } \
39}
40#else
41#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
42        "GLOBAL_VISION_POSITION_ESTIMATE", \
43        7, \
44        {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
45         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
46         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
47         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
48         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
49         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
50         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
51         } \
52}
53#endif
54
55/**
56 * @brief Pack a global_vision_position_estimate message
57 * @param system_id ID of this system
58 * @param component_id ID of this component (e.g. 200 for IMU)
59 * @param msg The MAVLink message to compress the data into
60 *
61 * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
62 * @param x Global X position
63 * @param y Global Y position
64 * @param z Global Z position
65 * @param roll Roll angle in rad
66 * @param pitch Pitch angle in rad
67 * @param yaw Yaw angle in rad
68 * @return length of the message in bytes (excluding serial stream start sign)
69 */
70static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
71                                                       uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
72{
73#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
74        char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
75        _mav_put_uint64_t(buf, 0, usec);
76        _mav_put_float(buf, 8, x);
77        _mav_put_float(buf, 12, y);
78        _mav_put_float(buf, 16, z);
79        _mav_put_float(buf, 20, roll);
80        _mav_put_float(buf, 24, pitch);
81        _mav_put_float(buf, 28, yaw);
82
83        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
84#else
85        mavlink_global_vision_position_estimate_t packet;
86        packet.usec = usec;
87        packet.x = x;
88        packet.y = y;
89        packet.z = z;
90        packet.roll = roll;
91        packet.pitch = pitch;
92        packet.yaw = yaw;
93
94        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
95#endif
96
97        msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
98    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
99}
100
101/**
102 * @brief Pack a global_vision_position_estimate message on a channel
103 * @param system_id ID of this system
104 * @param component_id ID of this component (e.g. 200 for IMU)
105 * @param chan The MAVLink channel this message will be sent over
106 * @param msg The MAVLink message to compress the data into
107 * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
108 * @param x Global X position
109 * @param y Global Y position
110 * @param z Global Z position
111 * @param roll Roll angle in rad
112 * @param pitch Pitch angle in rad
113 * @param yaw Yaw angle in rad
114 * @return length of the message in bytes (excluding serial stream start sign)
115 */
116static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
117                                                           mavlink_message_t* msg,
118                                                           uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
119{
120#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
121        char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
122        _mav_put_uint64_t(buf, 0, usec);
123        _mav_put_float(buf, 8, x);
124        _mav_put_float(buf, 12, y);
125        _mav_put_float(buf, 16, z);
126        _mav_put_float(buf, 20, roll);
127        _mav_put_float(buf, 24, pitch);
128        _mav_put_float(buf, 28, yaw);
129
130        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
131#else
132        mavlink_global_vision_position_estimate_t packet;
133        packet.usec = usec;
134        packet.x = x;
135        packet.y = y;
136        packet.z = z;
137        packet.roll = roll;
138        packet.pitch = pitch;
139        packet.yaw = yaw;
140
141        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
142#endif
143
144        msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
145    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
146}
147
148/**
149 * @brief Encode a global_vision_position_estimate struct
150 *
151 * @param system_id ID of this system
152 * @param component_id ID of this component (e.g. 200 for IMU)
153 * @param msg The MAVLink message to compress the data into
154 * @param global_vision_position_estimate C-struct to read the message contents from
155 */
156static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
157{
158        return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
159}
160
161/**
162 * @brief Encode a global_vision_position_estimate struct on a channel
163 *
164 * @param system_id ID of this system
165 * @param component_id ID of this component (e.g. 200 for IMU)
166 * @param chan The MAVLink channel this message will be sent over
167 * @param msg The MAVLink message to compress the data into
168 * @param global_vision_position_estimate C-struct to read the message contents from
169 */
170static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
171{
172        return mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
173}
174
175/**
176 * @brief Send a global_vision_position_estimate message
177 * @param chan MAVLink channel to send the message
178 *
179 * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
180 * @param x Global X position
181 * @param y Global Y position
182 * @param z Global Z position
183 * @param roll Roll angle in rad
184 * @param pitch Pitch angle in rad
185 * @param yaw Yaw angle in rad
186 */
187#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
188
189static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
190{
191#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
192        char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
193        _mav_put_uint64_t(buf, 0, usec);
194        _mav_put_float(buf, 8, x);
195        _mav_put_float(buf, 12, y);
196        _mav_put_float(buf, 16, z);
197        _mav_put_float(buf, 20, roll);
198        _mav_put_float(buf, 24, pitch);
199        _mav_put_float(buf, 28, yaw);
200
201    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
202#else
203        mavlink_global_vision_position_estimate_t packet;
204        packet.usec = usec;
205        packet.x = x;
206        packet.y = y;
207        packet.z = z;
208        packet.roll = roll;
209        packet.pitch = pitch;
210        packet.yaw = yaw;
211
212    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
213#endif
214}
215
216/**
217 * @brief Send a global_vision_position_estimate message
218 * @param chan MAVLink channel to send the message
219 * @param struct The MAVLink struct to serialize
220 */
221static inline void mavlink_msg_global_vision_position_estimate_send_struct(mavlink_channel_t chan, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
222{
223#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
224    mavlink_msg_global_vision_position_estimate_send(chan, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
225#else
226    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)global_vision_position_estimate, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
227#endif
228}
229
230#if MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
231/*
232  This varient of _send() can be used to save stack space by re-using
233  memory from the receive buffer.  The caller provides a
234  mavlink_message_t which is the size of a full mavlink message. This
235  is usually the receive buffer for the channel, and allows a reply to an
236  incoming message with minimum stack space usage.
237 */
238static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
239{
240#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
241        char *buf = (char *)msgbuf;
242        _mav_put_uint64_t(buf, 0, usec);
243        _mav_put_float(buf, 8, x);
244        _mav_put_float(buf, 12, y);
245        _mav_put_float(buf, 16, z);
246        _mav_put_float(buf, 20, roll);
247        _mav_put_float(buf, 24, pitch);
248        _mav_put_float(buf, 28, yaw);
249
250    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
251#else
252        mavlink_global_vision_position_estimate_t *packet = (mavlink_global_vision_position_estimate_t *)msgbuf;
253        packet->usec = usec;
254        packet->x = x;
255        packet->y = y;
256        packet->z = z;
257        packet->roll = roll;
258        packet->pitch = pitch;
259        packet->yaw = yaw;
260
261    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
262#endif
263}
264#endif
265
266#endif
267
268// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE UNPACKING
269
270
271/**
272 * @brief Get field usec from global_vision_position_estimate message
273 *
274 * @return Timestamp (microseconds, synced to UNIX time or since system boot)
275 */
276static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
277{
278        return _MAV_RETURN_uint64_t(msg,  0);
279}
280
281/**
282 * @brief Get field x from global_vision_position_estimate message
283 *
284 * @return Global X position
285 */
286static inline float mavlink_msg_global_vision_position_estimate_get_x(const mavlink_message_t* msg)
287{
288        return _MAV_RETURN_float(msg,  8);
289}
290
291/**
292 * @brief Get field y from global_vision_position_estimate message
293 *
294 * @return Global Y position
295 */
296static inline float mavlink_msg_global_vision_position_estimate_get_y(const mavlink_message_t* msg)
297{
298        return _MAV_RETURN_float(msg,  12);
299}
300
301/**
302 * @brief Get field z from global_vision_position_estimate message
303 *
304 * @return Global Z position
305 */
306static inline float mavlink_msg_global_vision_position_estimate_get_z(const mavlink_message_t* msg)
307{
308        return _MAV_RETURN_float(msg,  16);
309}
310
311/**
312 * @brief Get field roll from global_vision_position_estimate message
313 *
314 * @return Roll angle in rad
315 */
316static inline float mavlink_msg_global_vision_position_estimate_get_roll(const mavlink_message_t* msg)
317{
318        return _MAV_RETURN_float(msg,  20);
319}
320
321/**
322 * @brief Get field pitch from global_vision_position_estimate message
323 *
324 * @return Pitch angle in rad
325 */
326static inline float mavlink_msg_global_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
327{
328        return _MAV_RETURN_float(msg,  24);
329}
330
331/**
332 * @brief Get field yaw from global_vision_position_estimate message
333 *
334 * @return Yaw angle in rad
335 */
336static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
337{
338        return _MAV_RETURN_float(msg,  28);
339}
340
341/**
342 * @brief Decode a global_vision_position_estimate message into a struct
343 *
344 * @param msg The message to decode
345 * @param global_vision_position_estimate C-struct to decode the message contents into
346 */
347static inline void mavlink_msg_global_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
348{
349#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
350        global_vision_position_estimate->usec = mavlink_msg_global_vision_position_estimate_get_usec(msg);
351        global_vision_position_estimate->x = mavlink_msg_global_vision_position_estimate_get_x(msg);
352        global_vision_position_estimate->y = mavlink_msg_global_vision_position_estimate_get_y(msg);
353        global_vision_position_estimate->z = mavlink_msg_global_vision_position_estimate_get_z(msg);
354        global_vision_position_estimate->roll = mavlink_msg_global_vision_position_estimate_get_roll(msg);
355        global_vision_position_estimate->pitch = mavlink_msg_global_vision_position_estimate_get_pitch(msg);
356        global_vision_position_estimate->yaw = mavlink_msg_global_vision_position_estimate_get_yaw(msg);
357#else
358        uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN;
359        memset(global_vision_position_estimate, 0, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
360        memcpy(global_vision_position_estimate, _MAV_PAYLOAD(msg), len);
361#endif
362}
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