source: flair-src/trunk/tools/Controller/Mavlink/src/include/common/mavlink_msg_local_position_ned.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: 13.5 KB
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1// MESSAGE LOCAL_POSITION_NED PACKING
2
3#define MAVLINK_MSG_ID_LOCAL_POSITION_NED 32
4
5typedef struct MAVLINK_PACKED __mavlink_local_position_ned_t
6{
7 uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
8 float x; /*< X Position*/
9 float y; /*< Y Position*/
10 float z; /*< Z Position*/
11 float vx; /*< X Speed*/
12 float vy; /*< Y Speed*/
13 float vz; /*< Z Speed*/
14} mavlink_local_position_ned_t;
15
16#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN 28
17#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN 28
18#define MAVLINK_MSG_ID_32_LEN 28
19#define MAVLINK_MSG_ID_32_MIN_LEN 28
20
21#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC 185
22#define MAVLINK_MSG_ID_32_CRC 185
23
24
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \
28        32, \
29        "LOCAL_POSITION_NED", \
30        7, \
31        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
32         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
33         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
34         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
35         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
36         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
37         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
38         } \
39}
40#else
41#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \
42        "LOCAL_POSITION_NED", \
43        7, \
44        {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
45         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
46         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
47         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
48         { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
49         { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
50         { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
51         } \
52}
53#endif
54
55/**
56 * @brief Pack a local_position_ned 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 time_boot_ms Timestamp (milliseconds since system boot)
62 * @param x X Position
63 * @param y Y Position
64 * @param z Z Position
65 * @param vx X Speed
66 * @param vy Y Speed
67 * @param vz Z Speed
68 * @return length of the message in bytes (excluding serial stream start sign)
69 */
70static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
71                                                       uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
72{
73#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
74        char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
75        _mav_put_uint32_t(buf, 0, time_boot_ms);
76        _mav_put_float(buf, 4, x);
77        _mav_put_float(buf, 8, y);
78        _mav_put_float(buf, 12, z);
79        _mav_put_float(buf, 16, vx);
80        _mav_put_float(buf, 20, vy);
81        _mav_put_float(buf, 24, vz);
82
83        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
84#else
85        mavlink_local_position_ned_t packet;
86        packet.time_boot_ms = time_boot_ms;
87        packet.x = x;
88        packet.y = y;
89        packet.z = z;
90        packet.vx = vx;
91        packet.vy = vy;
92        packet.vz = vz;
93
94        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
95#endif
96
97        msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
98    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
99}
100
101/**
102 * @brief Pack a local_position_ned 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 time_boot_ms Timestamp (milliseconds since system boot)
108 * @param x X Position
109 * @param y Y Position
110 * @param z Z Position
111 * @param vx X Speed
112 * @param vy Y Speed
113 * @param vz Z Speed
114 * @return length of the message in bytes (excluding serial stream start sign)
115 */
116static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
117                                                           mavlink_message_t* msg,
118                                                           uint32_t time_boot_ms,float x,float y,float z,float vx,float vy,float vz)
119{
120#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
121        char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
122        _mav_put_uint32_t(buf, 0, time_boot_ms);
123        _mav_put_float(buf, 4, x);
124        _mav_put_float(buf, 8, y);
125        _mav_put_float(buf, 12, z);
126        _mav_put_float(buf, 16, vx);
127        _mav_put_float(buf, 20, vy);
128        _mav_put_float(buf, 24, vz);
129
130        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
131#else
132        mavlink_local_position_ned_t packet;
133        packet.time_boot_ms = time_boot_ms;
134        packet.x = x;
135        packet.y = y;
136        packet.z = z;
137        packet.vx = vx;
138        packet.vy = vy;
139        packet.vz = vz;
140
141        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
142#endif
143
144        msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
145    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
146}
147
148/**
149 * @brief Encode a local_position_ned 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 local_position_ned C-struct to read the message contents from
155 */
156static inline uint16_t mavlink_msg_local_position_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
157{
158        return mavlink_msg_local_position_ned_pack(system_id, component_id, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
159}
160
161/**
162 * @brief Encode a local_position_ned 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 local_position_ned C-struct to read the message contents from
169 */
170static inline uint16_t mavlink_msg_local_position_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
171{
172        return mavlink_msg_local_position_ned_pack_chan(system_id, component_id, chan, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
173}
174
175/**
176 * @brief Send a local_position_ned message
177 * @param chan MAVLink channel to send the message
178 *
179 * @param time_boot_ms Timestamp (milliseconds since system boot)
180 * @param x X Position
181 * @param y Y Position
182 * @param z Z Position
183 * @param vx X Speed
184 * @param vy Y Speed
185 * @param vz Z Speed
186 */
187#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
188
189static inline void mavlink_msg_local_position_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
190{
191#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
192        char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
193        _mav_put_uint32_t(buf, 0, time_boot_ms);
194        _mav_put_float(buf, 4, x);
195        _mav_put_float(buf, 8, y);
196        _mav_put_float(buf, 12, z);
197        _mav_put_float(buf, 16, vx);
198        _mav_put_float(buf, 20, vy);
199        _mav_put_float(buf, 24, vz);
200
201    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
202#else
203        mavlink_local_position_ned_t packet;
204        packet.time_boot_ms = time_boot_ms;
205        packet.x = x;
206        packet.y = y;
207        packet.z = z;
208        packet.vx = vx;
209        packet.vy = vy;
210        packet.vz = vz;
211
212    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
213#endif
214}
215
216/**
217 * @brief Send a local_position_ned message
218 * @param chan MAVLink channel to send the message
219 * @param struct The MAVLink struct to serialize
220 */
221static inline void mavlink_msg_local_position_ned_send_struct(mavlink_channel_t chan, const mavlink_local_position_ned_t* local_position_ned)
222{
223#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
224    mavlink_msg_local_position_ned_send(chan, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
225#else
226    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)local_position_ned, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
227#endif
228}
229
230#if MAVLINK_MSG_ID_LOCAL_POSITION_NED_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_local_position_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
239{
240#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
241        char *buf = (char *)msgbuf;
242        _mav_put_uint32_t(buf, 0, time_boot_ms);
243        _mav_put_float(buf, 4, x);
244        _mav_put_float(buf, 8, y);
245        _mav_put_float(buf, 12, z);
246        _mav_put_float(buf, 16, vx);
247        _mav_put_float(buf, 20, vy);
248        _mav_put_float(buf, 24, vz);
249
250    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
251#else
252        mavlink_local_position_ned_t *packet = (mavlink_local_position_ned_t *)msgbuf;
253        packet->time_boot_ms = time_boot_ms;
254        packet->x = x;
255        packet->y = y;
256        packet->z = z;
257        packet->vx = vx;
258        packet->vy = vy;
259        packet->vz = vz;
260
261    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
262#endif
263}
264#endif
265
266#endif
267
268// MESSAGE LOCAL_POSITION_NED UNPACKING
269
270
271/**
272 * @brief Get field time_boot_ms from local_position_ned message
273 *
274 * @return Timestamp (milliseconds since system boot)
275 */
276static inline uint32_t mavlink_msg_local_position_ned_get_time_boot_ms(const mavlink_message_t* msg)
277{
278        return _MAV_RETURN_uint32_t(msg,  0);
279}
280
281/**
282 * @brief Get field x from local_position_ned message
283 *
284 * @return X Position
285 */
286static inline float mavlink_msg_local_position_ned_get_x(const mavlink_message_t* msg)
287{
288        return _MAV_RETURN_float(msg,  4);
289}
290
291/**
292 * @brief Get field y from local_position_ned message
293 *
294 * @return Y Position
295 */
296static inline float mavlink_msg_local_position_ned_get_y(const mavlink_message_t* msg)
297{
298        return _MAV_RETURN_float(msg,  8);
299}
300
301/**
302 * @brief Get field z from local_position_ned message
303 *
304 * @return Z Position
305 */
306static inline float mavlink_msg_local_position_ned_get_z(const mavlink_message_t* msg)
307{
308        return _MAV_RETURN_float(msg,  12);
309}
310
311/**
312 * @brief Get field vx from local_position_ned message
313 *
314 * @return X Speed
315 */
316static inline float mavlink_msg_local_position_ned_get_vx(const mavlink_message_t* msg)
317{
318        return _MAV_RETURN_float(msg,  16);
319}
320
321/**
322 * @brief Get field vy from local_position_ned message
323 *
324 * @return Y Speed
325 */
326static inline float mavlink_msg_local_position_ned_get_vy(const mavlink_message_t* msg)
327{
328        return _MAV_RETURN_float(msg,  20);
329}
330
331/**
332 * @brief Get field vz from local_position_ned message
333 *
334 * @return Z Speed
335 */
336static inline float mavlink_msg_local_position_ned_get_vz(const mavlink_message_t* msg)
337{
338        return _MAV_RETURN_float(msg,  24);
339}
340
341/**
342 * @brief Decode a local_position_ned message into a struct
343 *
344 * @param msg The message to decode
345 * @param local_position_ned C-struct to decode the message contents into
346 */
347static inline void mavlink_msg_local_position_ned_decode(const mavlink_message_t* msg, mavlink_local_position_ned_t* local_position_ned)
348{
349#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
350        local_position_ned->time_boot_ms = mavlink_msg_local_position_ned_get_time_boot_ms(msg);
351        local_position_ned->x = mavlink_msg_local_position_ned_get_x(msg);
352        local_position_ned->y = mavlink_msg_local_position_ned_get_y(msg);
353        local_position_ned->z = mavlink_msg_local_position_ned_get_z(msg);
354        local_position_ned->vx = mavlink_msg_local_position_ned_get_vx(msg);
355        local_position_ned->vy = mavlink_msg_local_position_ned_get_vy(msg);
356        local_position_ned->vz = mavlink_msg_local_position_ned_get_vz(msg);
357#else
358        uint8_t len = msg->len < MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN? msg->len : MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN;
359        memset(local_position_ned, 0, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
360        memcpy(local_position_ned, _MAV_PAYLOAD(msg), len);
361#endif
362}
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