// MESSAGE VISION_POSITION_ESTIMATE PACKING #define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 102 typedef struct MAVLINK_PACKED __mavlink_vision_position_estimate_t { uint64_t usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/ float x; /*< Global X position*/ float y; /*< Global Y position*/ float z; /*< Global Z position*/ float roll; /*< Roll angle in rad*/ float pitch; /*< Pitch angle in rad*/ float yaw; /*< Yaw angle in rad*/ } mavlink_vision_position_estimate_t; #define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 32 #define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN 32 #define MAVLINK_MSG_ID_102_LEN 32 #define MAVLINK_MSG_ID_102_MIN_LEN 32 #define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC 158 #define MAVLINK_MSG_ID_102_CRC 158 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \ 102, \ "VISION_POSITION_ESTIMATE", \ 7, \ { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_position_estimate_t, z) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \ "VISION_POSITION_ESTIMATE", \ 7, \ { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_position_estimate_t, z) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \ } \ } #endif /** * @brief Pack a vision_position_estimate message * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * * @param usec Timestamp (microseconds, synced to UNIX time or since system boot) * @param x Global X position * @param y Global Y position * @param z Global Z position * @param roll Roll angle in rad * @param pitch Pitch angle in rad * @param yaw Yaw angle in rad * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN]; _mav_put_uint64_t(buf, 0, usec); _mav_put_float(buf, 8, x); _mav_put_float(buf, 12, y); _mav_put_float(buf, 16, z); _mav_put_float(buf, 20, roll); _mav_put_float(buf, 24, pitch); _mav_put_float(buf, 28, yaw); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN); #else mavlink_vision_position_estimate_t packet; packet.usec = usec; packet.x = x; packet.y = y; packet.z = z; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC); } /** * @brief Pack a vision_position_estimate message on a channel * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param usec Timestamp (microseconds, synced to UNIX time or since system boot) * @param x Global X position * @param y Global Y position * @param z Global Z position * @param roll Roll angle in rad * @param pitch Pitch angle in rad * @param yaw Yaw angle in rad * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN]; _mav_put_uint64_t(buf, 0, usec); _mav_put_float(buf, 8, x); _mav_put_float(buf, 12, y); _mav_put_float(buf, 16, z); _mav_put_float(buf, 20, roll); _mav_put_float(buf, 24, pitch); _mav_put_float(buf, 28, yaw); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN); #else mavlink_vision_position_estimate_t packet; packet.usec = usec; packet.x = x; packet.y = y; packet.z = z; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN); #endif msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC); } /** * @brief Encode a vision_position_estimate struct * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param msg The MAVLink message to compress the data into * @param vision_position_estimate C-struct to read the message contents from */ static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate) { return mavlink_msg_vision_position_estimate_pack(system_id, component_id, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw); } /** * @brief Encode a vision_position_estimate struct on a channel * * @param system_id ID of this system * @param component_id ID of this component (e.g. 200 for IMU) * @param chan The MAVLink channel this message will be sent over * @param msg The MAVLink message to compress the data into * @param vision_position_estimate C-struct to read the message contents from */ static inline uint16_t mavlink_msg_vision_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate) { return mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw); } /** * @brief Send a vision_position_estimate message * @param chan MAVLink channel to send the message * * @param usec Timestamp (microseconds, synced to UNIX time or since system boot) * @param x Global X position * @param y Global Y position * @param z Global Z position * @param roll Roll angle in rad * @param pitch Pitch angle in rad * @param yaw Yaw angle in rad */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN]; _mav_put_uint64_t(buf, 0, usec); _mav_put_float(buf, 8, x); _mav_put_float(buf, 12, y); _mav_put_float(buf, 16, z); _mav_put_float(buf, 20, roll); _mav_put_float(buf, 24, pitch); _mav_put_float(buf, 28, yaw); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC); #else mavlink_vision_position_estimate_t packet; packet.usec = usec; packet.x = x; packet.y = y; packet.z = z; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC); #endif } /** * @brief Send a vision_position_estimate message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_vision_position_estimate_send_struct(mavlink_channel_t chan, const mavlink_vision_position_estimate_t* vision_position_estimate) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_vision_position_estimate_send(chan, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)vision_position_estimate, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC); #endif } #if MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This varient of _send() can be used to save stack space by re-using memory from the receive buffer. The caller provides a mavlink_message_t which is the size of a full mavlink message. This is usually the receive buffer for the channel, and allows a reply to an incoming message with minimum stack space usage. */ static inline void mavlink_msg_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) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, usec); _mav_put_float(buf, 8, x); _mav_put_float(buf, 12, y); _mav_put_float(buf, 16, z); _mav_put_float(buf, 20, roll); _mav_put_float(buf, 24, pitch); _mav_put_float(buf, 28, yaw); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC); #else mavlink_vision_position_estimate_t *packet = (mavlink_vision_position_estimate_t *)msgbuf; packet->usec = usec; packet->x = x; packet->y = y; packet->z = z; packet->roll = roll; packet->pitch = pitch; packet->yaw = yaw; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC); #endif } #endif #endif // MESSAGE VISION_POSITION_ESTIMATE UNPACKING /** * @brief Get field usec from vision_position_estimate message * * @return Timestamp (microseconds, synced to UNIX time or since system boot) */ static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field x from vision_position_estimate message * * @return Global X position */ static inline float mavlink_msg_vision_position_estimate_get_x(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field y from vision_position_estimate message * * @return Global Y position */ static inline float mavlink_msg_vision_position_estimate_get_y(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field z from vision_position_estimate message * * @return Global Z position */ static inline float mavlink_msg_vision_position_estimate_get_z(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field roll from vision_position_estimate message * * @return Roll angle in rad */ static inline float mavlink_msg_vision_position_estimate_get_roll(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field pitch from vision_position_estimate message * * @return Pitch angle in rad */ static inline float mavlink_msg_vision_position_estimate_get_pitch(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field yaw from vision_position_estimate message * * @return Yaw angle in rad */ static inline float mavlink_msg_vision_position_estimate_get_yaw(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Decode a vision_position_estimate message into a struct * * @param msg The message to decode * @param vision_position_estimate C-struct to decode the message contents into */ static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_vision_position_estimate_t* vision_position_estimate) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS vision_position_estimate->usec = mavlink_msg_vision_position_estimate_get_usec(msg); vision_position_estimate->x = mavlink_msg_vision_position_estimate_get_x(msg); vision_position_estimate->y = mavlink_msg_vision_position_estimate_get_y(msg); vision_position_estimate->z = mavlink_msg_vision_position_estimate_get_z(msg); vision_position_estimate->roll = mavlink_msg_vision_position_estimate_get_roll(msg); vision_position_estimate->pitch = mavlink_msg_vision_position_estimate_get_pitch(msg); vision_position_estimate->yaw = mavlink_msg_vision_position_estimate_get_yaw(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN; memset(vision_position_estimate, 0, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN); memcpy(vision_position_estimate, _MAV_PAYLOAD(msg), len); #endif }