lib/main/MAVLink/common/mavlink_msg_global_position_int_cov.h

   1 // MESSAGE GLOBAL_POSITION_INT_COV PACKING
   2
   3 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV 63
   4
   5 typedef struct __mavlink_global_position_int_cov_t
   6 {
   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.
   8  uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   9  int32_t lat; ///< Latitude, expressed as degrees * 1E7
  10  int32_t lon; ///< Longitude, expressed as degrees * 1E7
  11  int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters), above MSL
  12  int32_t relative_alt; ///< Altitude above ground in meters, expressed as * 1000 (millimeters)
  13  float vx; ///< Ground X Speed (Latitude), expressed as m/s
  14  float vy; ///< Ground Y Speed (Longitude), expressed as m/s
  15  float vz; ///< Ground Z Speed (Altitude), expressed as m/s
  16  float covariance[36]; ///< Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
  17  uint8_t estimator_type; ///< Class id of the estimator this estimate originated from.
  18 } mavlink_global_position_int_cov_t;
  19
  20 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN 185
  21 #define MAVLINK_MSG_ID_63_LEN 185
  22
  23 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC 51
  24 #define MAVLINK_MSG_ID_63_CRC 51
  25
  26 #define MAVLINK_MSG_GLOBAL_POSITION_INT_COV_FIELD_COVARIANCE_LEN 36
  27
  28 #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT_COV { \
  29         "GLOBAL_POSITION_INT_COV", \
  30         11, \
  31         {  { "time_utc", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_int_cov_t, time_utc) }, \
  32          { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_global_position_int_cov_t, time_boot_ms) }, \
  33          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_cov_t, lat) }, \
  34          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_cov_t, lon) }, \
  35          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_global_position_int_cov_t, alt) }, \
  36          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_global_position_int_cov_t, relative_alt) }, \
  37          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_int_cov_t, vx) }, \
  38          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_global_position_int_cov_t, vy) }, \
  39          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_global_position_int_cov_t, vz) }, \
  40          { "covariance", NULL, MAVLINK_TYPE_FLOAT, 36, 40, offsetof(mavlink_global_position_int_cov_t, covariance) }, \
  41          { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 184, offsetof(mavlink_global_position_int_cov_t, estimator_type) }, \
  42          } \
  43 }
  44
  45
  46 /**
  47  * @brief Pack a global_position_int_cov message
  48  * @param system_id ID of this system
  49  * @param component_id ID of this component (e.g. 200 for IMU)
  50  * @param msg The MAVLink message to compress the data into
  51  *
  52  * @param time_boot_ms Timestamp (milliseconds since system boot)
  53  * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
  54  * @param estimator_type Class id of the estimator this estimate originated from.
  55  * @param lat Latitude, expressed as degrees * 1E7
  56  * @param lon Longitude, expressed as degrees * 1E7
  57  * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
  58  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
  59  * @param vx Ground X Speed (Latitude), expressed as m/s
  60  * @param vy Ground Y Speed (Longitude), expressed as m/s
  61  * @param vz Ground Z Speed (Altitude), expressed as m/s
  62  * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
  63  * @return length of the message in bytes (excluding serial stream start sign)
  64  */
  65 static inline uint16_t mavlink_msg_global_position_int_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  66                                                        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)
  67 {
  68 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  69         char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN];
  70         _mav_put_uint64_t(buf, 0, time_utc);
  71         _mav_put_uint32_t(buf, 8, time_boot_ms);
  72         _mav_put_int32_t(buf, 12, lat);
  73         _mav_put_int32_t(buf, 16, lon);
  74         _mav_put_int32_t(buf, 20, alt);
  75         _mav_put_int32_t(buf, 24, relative_alt);
  76         _mav_put_float(buf, 28, vx);
  77         _mav_put_float(buf, 32, vy);
  78         _mav_put_float(buf, 36, vz);
  79         _mav_put_uint8_t(buf, 184, estimator_type);
  80         _mav_put_float_array(buf, 40, covariance, 36);
  81         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
  82 #else
  83         mavlink_global_position_int_cov_t packet;
  84         packet.time_utc = time_utc;
  85         packet.time_boot_ms = time_boot_ms;
  86         packet.lat = lat;
  87         packet.lon = lon;
  88         packet.alt = alt;
  89         packet.relative_alt = relative_alt;
  90         packet.vx = vx;
  91         packet.vy = vy;
  92         packet.vz = vz;
  93         packet.estimator_type = estimator_type;
  94         mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
  95         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
  96 #endif
  97
  98         msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV;
  99 #if MAVLINK_CRC_EXTRA
 100     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 101 #else
 102     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 103 #endif
 104 }
 105
 106 /**
 107  * @brief Pack a global_position_int_cov message on a channel
 108  * @param system_id ID of this system
 109  * @param component_id ID of this component (e.g. 200 for IMU)
 110  * @param chan The MAVLink channel this message will be sent over
 111  * @param msg The MAVLink message to compress the data into
 112  * @param time_boot_ms Timestamp (milliseconds since system boot)
 113  * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
 114  * @param estimator_type Class id of the estimator this estimate originated from.
 115  * @param lat Latitude, expressed as degrees * 1E7
 116  * @param lon Longitude, expressed as degrees * 1E7
 117  * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
 118  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 119  * @param vx Ground X Speed (Latitude), expressed as m/s
 120  * @param vy Ground Y Speed (Longitude), expressed as m/s
 121  * @param vz Ground Z Speed (Altitude), expressed as m/s
 122  * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
 123  * @return length of the message in bytes (excluding serial stream start sign)
 124  */
 125 static inline uint16_t mavlink_msg_global_position_int_cov_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 126                                                            mavlink_message_t* msg,
 127                                                            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)
 128 {
 129 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 130         char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN];
 131         _mav_put_uint64_t(buf, 0, time_utc);
 132         _mav_put_uint32_t(buf, 8, time_boot_ms);
 133         _mav_put_int32_t(buf, 12, lat);
 134         _mav_put_int32_t(buf, 16, lon);
 135         _mav_put_int32_t(buf, 20, alt);
 136         _mav_put_int32_t(buf, 24, relative_alt);
 137         _mav_put_float(buf, 28, vx);
 138         _mav_put_float(buf, 32, vy);
 139         _mav_put_float(buf, 36, vz);
 140         _mav_put_uint8_t(buf, 184, estimator_type);
 141         _mav_put_float_array(buf, 40, covariance, 36);
 142         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 143 #else
 144         mavlink_global_position_int_cov_t packet;
 145         packet.time_utc = time_utc;
 146         packet.time_boot_ms = time_boot_ms;
 147         packet.lat = lat;
 148         packet.lon = lon;
 149         packet.alt = alt;
 150         packet.relative_alt = relative_alt;
 151         packet.vx = vx;
 152         packet.vy = vy;
 153         packet.vz = vz;
 154         packet.estimator_type = estimator_type;
 155         mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
 156         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 157 #endif
 158
 159         msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV;
 160 #if MAVLINK_CRC_EXTRA
 161     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 162 #else
 163     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 164 #endif
 165 }
 166
 167 /**
 168  * @brief Encode a global_position_int_cov struct
 169  *
 170  * @param system_id ID of this system
 171  * @param component_id ID of this component (e.g. 200 for IMU)
 172  * @param msg The MAVLink message to compress the data into
 173  * @param global_position_int_cov C-struct to read the message contents from
 174  */
 175 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)
 176 {
 177         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);
 178 }
 179
 180 /**
 181  * @brief Encode a global_position_int_cov struct on a channel
 182  *
 183  * @param system_id ID of this system
 184  * @param component_id ID of this component (e.g. 200 for IMU)
 185  * @param chan The MAVLink channel this message will be sent over
 186  * @param msg The MAVLink message to compress the data into
 187  * @param global_position_int_cov C-struct to read the message contents from
 188  */
 189 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)
 190 {
 191         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);
 192 }
 193
 194 /**
 195  * @brief Send a global_position_int_cov message
 196  * @param chan MAVLink channel to send the message
 197  *
 198  * @param time_boot_ms Timestamp (milliseconds since system boot)
 199  * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
 200  * @param estimator_type Class id of the estimator this estimate originated from.
 201  * @param lat Latitude, expressed as degrees * 1E7
 202  * @param lon Longitude, expressed as degrees * 1E7
 203  * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
 204  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 205  * @param vx Ground X Speed (Latitude), expressed as m/s
 206  * @param vy Ground Y Speed (Longitude), expressed as m/s
 207  * @param vz Ground Z Speed (Altitude), expressed as m/s
 208  * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
 209  */
 210 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 211
 212 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)
 213 {
 214 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 215         char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN];
 216         _mav_put_uint64_t(buf, 0, time_utc);
 217         _mav_put_uint32_t(buf, 8, time_boot_ms);
 218         _mav_put_int32_t(buf, 12, lat);
 219         _mav_put_int32_t(buf, 16, lon);
 220         _mav_put_int32_t(buf, 20, alt);
 221         _mav_put_int32_t(buf, 24, relative_alt);
 222         _mav_put_float(buf, 28, vx);
 223         _mav_put_float(buf, 32, vy);
 224         _mav_put_float(buf, 36, vz);
 225         _mav_put_uint8_t(buf, 184, estimator_type);
 226         _mav_put_float_array(buf, 40, covariance, 36);
 227 #if MAVLINK_CRC_EXTRA
 228     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 229 #else
 230     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 231 #endif
 232 #else
 233         mavlink_global_position_int_cov_t packet;
 234         packet.time_utc = time_utc;
 235         packet.time_boot_ms = time_boot_ms;
 236         packet.lat = lat;
 237         packet.lon = lon;
 238         packet.alt = alt;
 239         packet.relative_alt = relative_alt;
 240         packet.vx = vx;
 241         packet.vy = vy;
 242         packet.vz = vz;
 243         packet.estimator_type = estimator_type;
 244         mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
 245 #if MAVLINK_CRC_EXTRA
 246     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 247 #else
 248     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 249 #endif
 250 #endif
 251 }
 252
 253 #if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 254 /*
 255   This varient of _send() can be used to save stack space by re-using
 256   memory from the receive buffer.  The caller provides a
 257   mavlink_message_t which is the size of a full mavlink message. This
 258   is usually the receive buffer for the channel, and allows a reply to an
 259   incoming message with minimum stack space usage.
 260  */
 261 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)
 262 {
 263 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 264         char *buf = (char *)msgbuf;
 265         _mav_put_uint64_t(buf, 0, time_utc);
 266         _mav_put_uint32_t(buf, 8, time_boot_ms);
 267         _mav_put_int32_t(buf, 12, lat);
 268         _mav_put_int32_t(buf, 16, lon);
 269         _mav_put_int32_t(buf, 20, alt);
 270         _mav_put_int32_t(buf, 24, relative_alt);
 271         _mav_put_float(buf, 28, vx);
 272         _mav_put_float(buf, 32, vy);
 273         _mav_put_float(buf, 36, vz);
 274         _mav_put_uint8_t(buf, 184, estimator_type);
 275         _mav_put_float_array(buf, 40, covariance, 36);
 276 #if MAVLINK_CRC_EXTRA
 277     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 278 #else
 279     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 280 #endif
 281 #else
 282         mavlink_global_position_int_cov_t *packet = (mavlink_global_position_int_cov_t *)msgbuf;
 283         packet->time_utc = time_utc;
 284         packet->time_boot_ms = time_boot_ms;
 285         packet->lat = lat;
 286         packet->lon = lon;
 287         packet->alt = alt;
 288         packet->relative_alt = relative_alt;
 289         packet->vx = vx;
 290         packet->vy = vy;
 291         packet->vz = vz;
 292         packet->estimator_type = estimator_type;
 293         mav_array_memcpy(packet->covariance, covariance, sizeof(float)*36);
 294 #if MAVLINK_CRC_EXTRA
 295     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 296 #else
 297     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 298 #endif
 299 #endif
 300 }
 301 #endif
 302
 303 #endif
 304
 305 // MESSAGE GLOBAL_POSITION_INT_COV UNPACKING
 306
 307
 308 /**
 309  * @brief Get field time_boot_ms from global_position_int_cov message
 310  *
 311  * @return Timestamp (milliseconds since system boot)
 312  */
 313 static inline uint32_t mavlink_msg_global_position_int_cov_get_time_boot_ms(const mavlink_message_t* msg)
 314 {
 315         return _MAV_RETURN_uint32_t(msg,  8);
 316 }
 317
 318 /**
 319  * @brief Get field time_utc from global_position_int_cov message
 320  *
 321  * @return Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
 322  */
 323 static inline uint64_t mavlink_msg_global_position_int_cov_get_time_utc(const mavlink_message_t* msg)
 324 {
 325         return _MAV_RETURN_uint64_t(msg,  0);
 326 }
 327
 328 /**
 329  * @brief Get field estimator_type from global_position_int_cov message
 330  *
 331  * @return Class id of the estimator this estimate originated from.
 332  */
 333 static inline uint8_t mavlink_msg_global_position_int_cov_get_estimator_type(const mavlink_message_t* msg)
 334 {
 335         return _MAV_RETURN_uint8_t(msg,  184);
 336 }
 337
 338 /**
 339  * @brief Get field lat from global_position_int_cov message
 340  *
 341  * @return Latitude, expressed as degrees * 1E7
 342  */
 343 static inline int32_t mavlink_msg_global_position_int_cov_get_lat(const mavlink_message_t* msg)
 344 {
 345         return _MAV_RETURN_int32_t(msg,  12);
 346 }
 347
 348 /**
 349  * @brief Get field lon from global_position_int_cov message
 350  *
 351  * @return Longitude, expressed as degrees * 1E7
 352  */
 353 static inline int32_t mavlink_msg_global_position_int_cov_get_lon(const mavlink_message_t* msg)
 354 {
 355         return _MAV_RETURN_int32_t(msg,  16);
 356 }
 357
 358 /**
 359  * @brief Get field alt from global_position_int_cov message
 360  *
 361  * @return Altitude in meters, expressed as * 1000 (millimeters), above MSL
 362  */
 363 static inline int32_t mavlink_msg_global_position_int_cov_get_alt(const mavlink_message_t* msg)
 364 {
 365         return _MAV_RETURN_int32_t(msg,  20);
 366 }
 367
 368 /**
 369  * @brief Get field relative_alt from global_position_int_cov message
 370  *
 371  * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
 372  */
 373 static inline int32_t mavlink_msg_global_position_int_cov_get_relative_alt(const mavlink_message_t* msg)
 374 {
 375         return _MAV_RETURN_int32_t(msg,  24);
 376 }
 377
 378 /**
 379  * @brief Get field vx from global_position_int_cov message
 380  *
 381  * @return Ground X Speed (Latitude), expressed as m/s
 382  */
 383 static inline float mavlink_msg_global_position_int_cov_get_vx(const mavlink_message_t* msg)
 384 {
 385         return _MAV_RETURN_float(msg,  28);
 386 }
 387
 388 /**
 389  * @brief Get field vy from global_position_int_cov message
 390  *
 391  * @return Ground Y Speed (Longitude), expressed as m/s
 392  */
 393 static inline float mavlink_msg_global_position_int_cov_get_vy(const mavlink_message_t* msg)
 394 {
 395         return _MAV_RETURN_float(msg,  32);
 396 }
 397
 398 /**
 399  * @brief Get field vz from global_position_int_cov message
 400  *
 401  * @return Ground Z Speed (Altitude), expressed as m/s
 402  */
 403 static inline float mavlink_msg_global_position_int_cov_get_vz(const mavlink_message_t* msg)
 404 {
 405         return _MAV_RETURN_float(msg,  36);
 406 }
 407
 408 /**
 409  * @brief Get field covariance from global_position_int_cov message
 410  *
 411  * @return Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
 412  */
 413 static inline uint16_t mavlink_msg_global_position_int_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
 414 {
 415         return _MAV_RETURN_float_array(msg, covariance, 36,  40);
 416 }
 417
 418 /**
 419  * @brief Decode a global_position_int_cov message into a struct
 420  *
 421  * @param msg The message to decode
 422  * @param global_position_int_cov C-struct to decode the message contents into
 423  */
 424 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)
 425 {
 426 #if MAVLINK_NEED_BYTE_SWAP
 427         global_position_int_cov->time_utc = mavlink_msg_global_position_int_cov_get_time_utc(msg);
 428         global_position_int_cov->time_boot_ms = mavlink_msg_global_position_int_cov_get_time_boot_ms(msg);
 429         global_position_int_cov->lat = mavlink_msg_global_position_int_cov_get_lat(msg);
 430         global_position_int_cov->lon = mavlink_msg_global_position_int_cov_get_lon(msg);
 431         global_position_int_cov->alt = mavlink_msg_global_position_int_cov_get_alt(msg);
 432         global_position_int_cov->relative_alt = mavlink_msg_global_position_int_cov_get_relative_alt(msg);
 433         global_position_int_cov->vx = mavlink_msg_global_position_int_cov_get_vx(msg);
 434         global_position_int_cov->vy = mavlink_msg_global_position_int_cov_get_vy(msg);
 435         global_position_int_cov->vz = mavlink_msg_global_position_int_cov_get_vz(msg);
 436         mavlink_msg_global_position_int_cov_get_covariance(msg, global_position_int_cov->covariance);
 437         global_position_int_cov->estimator_type = mavlink_msg_global_position_int_cov_get_estimator_type(msg);
 438 #else
 439         memcpy(global_position_int_cov, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 440 #endif
 441 }