lib/main/MAVLink/common/mavlink_msg_att_pos_mocap.h

   1 // MESSAGE ATT_POS_MOCAP PACKING
   2
   3 #define MAVLINK_MSG_ID_ATT_POS_MOCAP 138
   4
   5 typedef struct __mavlink_att_pos_mocap_t
   6 {
   7  uint64_t time_usec; ///< Timestamp (micros since boot or Unix epoch)
   8  float q[4]; ///< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
   9  float x; ///< X position in meters (NED)
  10  float y; ///< Y position in meters (NED)
  11  float z; ///< Z position in meters (NED)
  12 } mavlink_att_pos_mocap_t;
  13
  14 #define MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN 36
  15 #define MAVLINK_MSG_ID_138_LEN 36
  16
  17 #define MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC 109
  18 #define MAVLINK_MSG_ID_138_CRC 109
  19
  20 #define MAVLINK_MSG_ATT_POS_MOCAP_FIELD_Q_LEN 4
  21
  22 #define MAVLINK_MESSAGE_INFO_ATT_POS_MOCAP { \
  23         "ATT_POS_MOCAP", \
  24         5, \
  25         {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_att_pos_mocap_t, time_usec) }, \
  26          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_att_pos_mocap_t, q) }, \
  27          { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_att_pos_mocap_t, x) }, \
  28          { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_att_pos_mocap_t, y) }, \
  29          { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_att_pos_mocap_t, z) }, \
  30          } \
  31 }
  32
  33
  34 /**
  35  * @brief Pack a att_pos_mocap message
  36  * @param system_id ID of this system
  37  * @param component_id ID of this component (e.g. 200 for IMU)
  38  * @param msg The MAVLink message to compress the data into
  39  *
  40  * @param time_usec Timestamp (micros since boot or Unix epoch)
  41  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
  42  * @param x X position in meters (NED)
  43  * @param y Y position in meters (NED)
  44  * @param z Z position in meters (NED)
  45  * @return length of the message in bytes (excluding serial stream start sign)
  46  */
  47 static inline uint16_t mavlink_msg_att_pos_mocap_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  48                                                        uint64_t time_usec, const float *q, float x, float y, float z)
  49 {
  50 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  51         char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN];
  52         _mav_put_uint64_t(buf, 0, time_usec);
  53         _mav_put_float(buf, 24, x);
  54         _mav_put_float(buf, 28, y);
  55         _mav_put_float(buf, 32, z);
  56         _mav_put_float_array(buf, 8, q, 4);
  57         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
  58 #else
  59         mavlink_att_pos_mocap_t packet;
  60         packet.time_usec = time_usec;
  61         packet.x = x;
  62         packet.y = y;
  63         packet.z = z;
  64         mav_array_memcpy(packet.q, q, sizeof(float)*4);
  65         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
  66 #endif
  67
  68         msg->msgid = MAVLINK_MSG_ID_ATT_POS_MOCAP;
  69 #if MAVLINK_CRC_EXTRA
  70     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
  71 #else
  72     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
  73 #endif
  74 }
  75
  76 /**
  77  * @brief Pack a att_pos_mocap message on a channel
  78  * @param system_id ID of this system
  79  * @param component_id ID of this component (e.g. 200 for IMU)
  80  * @param chan The MAVLink channel this message will be sent over
  81  * @param msg The MAVLink message to compress the data into
  82  * @param time_usec Timestamp (micros since boot or Unix epoch)
  83  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
  84  * @param x X position in meters (NED)
  85  * @param y Y position in meters (NED)
  86  * @param z Z position in meters (NED)
  87  * @return length of the message in bytes (excluding serial stream start sign)
  88  */
  89 static inline uint16_t mavlink_msg_att_pos_mocap_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  90                                                            mavlink_message_t* msg,
  91                                                            uint64_t time_usec,const float *q,float x,float y,float z)
  92 {
  93 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  94         char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN];
  95         _mav_put_uint64_t(buf, 0, time_usec);
  96         _mav_put_float(buf, 24, x);
  97         _mav_put_float(buf, 28, y);
  98         _mav_put_float(buf, 32, z);
  99         _mav_put_float_array(buf, 8, q, 4);
 100         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
 101 #else
 102         mavlink_att_pos_mocap_t packet;
 103         packet.time_usec = time_usec;
 104         packet.x = x;
 105         packet.y = y;
 106         packet.z = z;
 107         mav_array_memcpy(packet.q, q, sizeof(float)*4);
 108         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
 109 #endif
 110
 111         msg->msgid = MAVLINK_MSG_ID_ATT_POS_MOCAP;
 112 #if MAVLINK_CRC_EXTRA
 113     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
 114 #else
 115     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
 116 #endif
 117 }
 118
 119 /**
 120  * @brief Encode a att_pos_mocap struct
 121  *
 122  * @param system_id ID of this system
 123  * @param component_id ID of this component (e.g. 200 for IMU)
 124  * @param msg The MAVLink message to compress the data into
 125  * @param att_pos_mocap C-struct to read the message contents from
 126  */
 127 static inline uint16_t mavlink_msg_att_pos_mocap_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_att_pos_mocap_t* att_pos_mocap)
 128 {
 129         return mavlink_msg_att_pos_mocap_pack(system_id, component_id, msg, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z);
 130 }
 131
 132 /**
 133  * @brief Encode a att_pos_mocap struct on a channel
 134  *
 135  * @param system_id ID of this system
 136  * @param component_id ID of this component (e.g. 200 for IMU)
 137  * @param chan The MAVLink channel this message will be sent over
 138  * @param msg The MAVLink message to compress the data into
 139  * @param att_pos_mocap C-struct to read the message contents from
 140  */
 141 static inline uint16_t mavlink_msg_att_pos_mocap_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_att_pos_mocap_t* att_pos_mocap)
 142 {
 143         return mavlink_msg_att_pos_mocap_pack_chan(system_id, component_id, chan, msg, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z);
 144 }
 145
 146 /**
 147  * @brief Send a att_pos_mocap message
 148  * @param chan MAVLink channel to send the message
 149  *
 150  * @param time_usec Timestamp (micros since boot or Unix epoch)
 151  * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 152  * @param x X position in meters (NED)
 153  * @param y Y position in meters (NED)
 154  * @param z Z position in meters (NED)
 155  */
 156 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 157
 158 static inline void mavlink_msg_att_pos_mocap_send(mavlink_channel_t chan, uint64_t time_usec, const float *q, float x, float y, float z)
 159 {
 160 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 161         char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN];
 162         _mav_put_uint64_t(buf, 0, time_usec);
 163         _mav_put_float(buf, 24, x);
 164         _mav_put_float(buf, 28, y);
 165         _mav_put_float(buf, 32, z);
 166         _mav_put_float_array(buf, 8, q, 4);
 167 #if MAVLINK_CRC_EXTRA
 168     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
 169 #else
 170     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
 171 #endif
 172 #else
 173         mavlink_att_pos_mocap_t packet;
 174         packet.time_usec = time_usec;
 175         packet.x = x;
 176         packet.y = y;
 177         packet.z = z;
 178         mav_array_memcpy(packet.q, q, sizeof(float)*4);
 179 #if MAVLINK_CRC_EXTRA
 180     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)&packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
 181 #else
 182     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)&packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
 183 #endif
 184 #endif
 185 }
 186
 187 #if MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 188 /*
 189   This varient of _send() can be used to save stack space by re-using
 190   memory from the receive buffer.  The caller provides a
 191   mavlink_message_t which is the size of a full mavlink message. This
 192   is usually the receive buffer for the channel, and allows a reply to an
 193   incoming message with minimum stack space usage.
 194  */
 195 static inline void mavlink_msg_att_pos_mocap_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, const float *q, float x, float y, float z)
 196 {
 197 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 198         char *buf = (char *)msgbuf;
 199         _mav_put_uint64_t(buf, 0, time_usec);
 200         _mav_put_float(buf, 24, x);
 201         _mav_put_float(buf, 28, y);
 202         _mav_put_float(buf, 32, z);
 203         _mav_put_float_array(buf, 8, q, 4);
 204 #if MAVLINK_CRC_EXTRA
 205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
 206 #else
 207     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
 208 #endif
 209 #else
 210         mavlink_att_pos_mocap_t *packet = (mavlink_att_pos_mocap_t *)msgbuf;
 211         packet->time_usec = time_usec;
 212         packet->x = x;
 213         packet->y = y;
 214         packet->z = z;
 215         mav_array_memcpy(packet->q, q, sizeof(float)*4);
 216 #if MAVLINK_CRC_EXTRA
 217     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
 218 #else
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
 220 #endif
 221 #endif
 222 }
 223 #endif
 224
 225 #endif
 226
 227 // MESSAGE ATT_POS_MOCAP UNPACKING
 228
 229
 230 /**
 231  * @brief Get field time_usec from att_pos_mocap message
 232  *
 233  * @return Timestamp (micros since boot or Unix epoch)
 234  */
 235 static inline uint64_t mavlink_msg_att_pos_mocap_get_time_usec(const mavlink_message_t* msg)
 236 {
 237         return _MAV_RETURN_uint64_t(msg,  0);
 238 }
 239
 240 /**
 241  * @brief Get field q from att_pos_mocap message
 242  *
 243  * @return Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 244  */
 245 static inline uint16_t mavlink_msg_att_pos_mocap_get_q(const mavlink_message_t* msg, float *q)
 246 {
 247         return _MAV_RETURN_float_array(msg, q, 4,  8);
 248 }
 249
 250 /**
 251  * @brief Get field x from att_pos_mocap message
 252  *
 253  * @return X position in meters (NED)
 254  */
 255 static inline float mavlink_msg_att_pos_mocap_get_x(const mavlink_message_t* msg)
 256 {
 257         return _MAV_RETURN_float(msg,  24);
 258 }
 259
 260 /**
 261  * @brief Get field y from att_pos_mocap message
 262  *
 263  * @return Y position in meters (NED)
 264  */
 265 static inline float mavlink_msg_att_pos_mocap_get_y(const mavlink_message_t* msg)
 266 {
 267         return _MAV_RETURN_float(msg,  28);
 268 }
 269
 270 /**
 271  * @brief Get field z from att_pos_mocap message
 272  *
 273  * @return Z position in meters (NED)
 274  */
 275 static inline float mavlink_msg_att_pos_mocap_get_z(const mavlink_message_t* msg)
 276 {
 277         return _MAV_RETURN_float(msg,  32);
 278 }
 279
 280 /**
 281  * @brief Decode a att_pos_mocap message into a struct
 282  *
 283  * @param msg The message to decode
 284  * @param att_pos_mocap C-struct to decode the message contents into
 285  */
 286 static inline void mavlink_msg_att_pos_mocap_decode(const mavlink_message_t* msg, mavlink_att_pos_mocap_t* att_pos_mocap)
 287 {
 288 #if MAVLINK_NEED_BYTE_SWAP
 289         att_pos_mocap->time_usec = mavlink_msg_att_pos_mocap_get_time_usec(msg);
 290         mavlink_msg_att_pos_mocap_get_q(msg, att_pos_mocap->q);
 291         att_pos_mocap->x = mavlink_msg_att_pos_mocap_get_x(msg);
 292         att_pos_mocap->y = mavlink_msg_att_pos_mocap_get_y(msg);
 293         att_pos_mocap->z = mavlink_msg_att_pos_mocap_get_z(msg);
 294 #else
 295         memcpy(att_pos_mocap, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
 296 #endif
 297 }