lib/main/MAVLink/common/mavlink_msg_global_position_int_cov.h

   1 #pragma once
   2 // MESSAGE GLOBAL_POSITION_INT_COV PACKING
   3
   4 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV 63
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_global_position_int_cov_t {
   8  uint64_t time_usec; /*< Timestamp (microseconds since system boot or since UNIX epoch)*/
   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 181
  21 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN 181
  22 #define MAVLINK_MSG_ID_63_LEN 181
  23 #define MAVLINK_MSG_ID_63_MIN_LEN 181
  24
  25 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC 119
  26 #define MAVLINK_MSG_ID_63_CRC 119
  27
  28 #define MAVLINK_MSG_GLOBAL_POSITION_INT_COV_FIELD_COVARIANCE_LEN 36
  29
  30 #if MAVLINK_COMMAND_24BIT
  31 #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT_COV { \
  32     63, \
  33     "GLOBAL_POSITION_INT_COV", \
  34     10, \
  35     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_int_cov_t, time_usec) }, \
  36          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_cov_t, lat) }, \
  37          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_cov_t, lon) }, \
  38          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_cov_t, alt) }, \
  39          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_global_position_int_cov_t, relative_alt) }, \
  40          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_int_cov_t, vx) }, \
  41          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_int_cov_t, vy) }, \
  42          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_global_position_int_cov_t, vz) }, \
  43          { "covariance", NULL, MAVLINK_TYPE_FLOAT, 36, 36, offsetof(mavlink_global_position_int_cov_t, covariance) }, \
  44          { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 180, offsetof(mavlink_global_position_int_cov_t, estimator_type) }, \
  45          } \
  46 }
  47 #else
  48 #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT_COV { \
  49     "GLOBAL_POSITION_INT_COV", \
  50     10, \
  51     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_position_int_cov_t, time_usec) }, \
  52          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_cov_t, lat) }, \
  53          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_cov_t, lon) }, \
  54          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_cov_t, alt) }, \
  55          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_global_position_int_cov_t, relative_alt) }, \
  56          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_int_cov_t, vx) }, \
  57          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_int_cov_t, vy) }, \
  58          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_global_position_int_cov_t, vz) }, \
  59          { "covariance", NULL, MAVLINK_TYPE_FLOAT, 36, 36, offsetof(mavlink_global_position_int_cov_t, covariance) }, \
  60          { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 180, offsetof(mavlink_global_position_int_cov_t, estimator_type) }, \
  61          } \
  62 }
  63 #endif
  64
  65 /**
  66  * @brief Pack a global_position_int_cov message
  67  * @param system_id ID of this system
  68  * @param component_id ID of this component (e.g. 200 for IMU)
  69  * @param msg The MAVLink message to compress the data into
  70  *
  71  * @param time_usec Timestamp (microseconds since system boot or since UNIX epoch)
  72  * @param estimator_type Class id of the estimator this estimate originated from.
  73  * @param lat Latitude, expressed as degrees * 1E7
  74  * @param lon Longitude, expressed as degrees * 1E7
  75  * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
  76  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
  77  * @param vx Ground X Speed (Latitude), expressed as m/s
  78  * @param vy Ground Y Speed (Longitude), expressed as m/s
  79  * @param vz Ground Z Speed (Altitude), expressed as m/s
  80  * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
  81  * @return length of the message in bytes (excluding serial stream start sign)
  82  */
  83 static inline uint16_t mavlink_msg_global_position_int_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  84                                uint64_t time_usec, 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)
  85 {
  86 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  87     char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN];
  88     _mav_put_uint64_t(buf, 0, time_usec);
  89     _mav_put_int32_t(buf, 8, lat);
  90     _mav_put_int32_t(buf, 12, lon);
  91     _mav_put_int32_t(buf, 16, alt);
  92     _mav_put_int32_t(buf, 20, relative_alt);
  93     _mav_put_float(buf, 24, vx);
  94     _mav_put_float(buf, 28, vy);
  95     _mav_put_float(buf, 32, vz);
  96     _mav_put_uint8_t(buf, 180, estimator_type);
  97     _mav_put_float_array(buf, 36, covariance, 36);
  98         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
  99 #else
 100     mavlink_global_position_int_cov_t packet;
 101     packet.time_usec = time_usec;
 102     packet.lat = lat;
 103     packet.lon = lon;
 104     packet.alt = alt;
 105     packet.relative_alt = relative_alt;
 106     packet.vx = vx;
 107     packet.vy = vy;
 108     packet.vz = vz;
 109     packet.estimator_type = estimator_type;
 110     mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
 111         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 112 #endif
 113
 114     msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV;
 115     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 116 }
 117
 118 /**
 119  * @brief Pack a global_position_int_cov message on a channel
 120  * @param system_id ID of this system
 121  * @param component_id ID of this component (e.g. 200 for IMU)
 122  * @param chan The MAVLink channel this message will be sent over
 123  * @param msg The MAVLink message to compress the data into
 124  * @param time_usec Timestamp (microseconds since system boot or since UNIX epoch)
 125  * @param estimator_type Class id of the estimator this estimate originated from.
 126  * @param lat Latitude, expressed as degrees * 1E7
 127  * @param lon Longitude, expressed as degrees * 1E7
 128  * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
 129  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 130  * @param vx Ground X Speed (Latitude), expressed as m/s
 131  * @param vy Ground Y Speed (Longitude), expressed as m/s
 132  * @param vz Ground Z Speed (Altitude), expressed as m/s
 133  * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
 134  * @return length of the message in bytes (excluding serial stream start sign)
 135  */
 136 static inline uint16_t mavlink_msg_global_position_int_cov_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 137                                mavlink_message_t* msg,
 138                                    uint64_t time_usec,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)
 139 {
 140 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 141     char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN];
 142     _mav_put_uint64_t(buf, 0, time_usec);
 143     _mav_put_int32_t(buf, 8, lat);
 144     _mav_put_int32_t(buf, 12, lon);
 145     _mav_put_int32_t(buf, 16, alt);
 146     _mav_put_int32_t(buf, 20, relative_alt);
 147     _mav_put_float(buf, 24, vx);
 148     _mav_put_float(buf, 28, vy);
 149     _mav_put_float(buf, 32, vz);
 150     _mav_put_uint8_t(buf, 180, estimator_type);
 151     _mav_put_float_array(buf, 36, covariance, 36);
 152         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 153 #else
 154     mavlink_global_position_int_cov_t packet;
 155     packet.time_usec = time_usec;
 156     packet.lat = lat;
 157     packet.lon = lon;
 158     packet.alt = alt;
 159     packet.relative_alt = relative_alt;
 160     packet.vx = vx;
 161     packet.vy = vy;
 162     packet.vz = vz;
 163     packet.estimator_type = estimator_type;
 164     mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
 165         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 166 #endif
 167
 168     msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV;
 169     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 170 }
 171
 172 /**
 173  * @brief Encode a global_position_int_cov struct
 174  *
 175  * @param system_id ID of this system
 176  * @param component_id ID of this component (e.g. 200 for IMU)
 177  * @param msg The MAVLink message to compress the data into
 178  * @param global_position_int_cov C-struct to read the message contents from
 179  */
 180 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)
 181 {
 182     return mavlink_msg_global_position_int_cov_pack(system_id, component_id, msg, global_position_int_cov->time_usec, 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);
 183 }
 184
 185 /**
 186  * @brief Encode a global_position_int_cov struct on a channel
 187  *
 188  * @param system_id ID of this system
 189  * @param component_id ID of this component (e.g. 200 for IMU)
 190  * @param chan The MAVLink channel this message will be sent over
 191  * @param msg The MAVLink message to compress the data into
 192  * @param global_position_int_cov C-struct to read the message contents from
 193  */
 194 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)
 195 {
 196     return mavlink_msg_global_position_int_cov_pack_chan(system_id, component_id, chan, msg, global_position_int_cov->time_usec, 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);
 197 }
 198
 199 /**
 200  * @brief Send a global_position_int_cov message
 201  * @param chan MAVLink channel to send the message
 202  *
 203  * @param time_usec Timestamp (microseconds since system boot or since UNIX epoch)
 204  * @param estimator_type Class id of the estimator this estimate originated from.
 205  * @param lat Latitude, expressed as degrees * 1E7
 206  * @param lon Longitude, expressed as degrees * 1E7
 207  * @param alt Altitude in meters, expressed as * 1000 (millimeters), above MSL
 208  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 209  * @param vx Ground X Speed (Latitude), expressed as m/s
 210  * @param vy Ground Y Speed (Longitude), expressed as m/s
 211  * @param vz Ground Z Speed (Altitude), expressed as m/s
 212  * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
 213  */
 214 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 215
 216 static inline void mavlink_msg_global_position_int_cov_send(mavlink_channel_t chan, uint64_t time_usec, 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)
 217 {
 218 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 219     char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN];
 220     _mav_put_uint64_t(buf, 0, time_usec);
 221     _mav_put_int32_t(buf, 8, lat);
 222     _mav_put_int32_t(buf, 12, lon);
 223     _mav_put_int32_t(buf, 16, alt);
 224     _mav_put_int32_t(buf, 20, relative_alt);
 225     _mav_put_float(buf, 24, vx);
 226     _mav_put_float(buf, 28, vy);
 227     _mav_put_float(buf, 32, vz);
 228     _mav_put_uint8_t(buf, 180, estimator_type);
 229     _mav_put_float_array(buf, 36, covariance, 36);
 230     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 231 #else
 232     mavlink_global_position_int_cov_t packet;
 233     packet.time_usec = time_usec;
 234     packet.lat = lat;
 235     packet.lon = lon;
 236     packet.alt = alt;
 237     packet.relative_alt = relative_alt;
 238     packet.vx = vx;
 239     packet.vy = vy;
 240     packet.vz = vz;
 241     packet.estimator_type = estimator_type;
 242     mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36);
 243     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 244 #endif
 245 }
 246
 247 /**
 248  * @brief Send a global_position_int_cov message
 249  * @param chan MAVLink channel to send the message
 250  * @param struct The MAVLink struct to serialize
 251  */
 252 static inline void mavlink_msg_global_position_int_cov_send_struct(mavlink_channel_t chan, const mavlink_global_position_int_cov_t* global_position_int_cov)
 253 {
 254 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 255     mavlink_msg_global_position_int_cov_send(chan, global_position_int_cov->time_usec, 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);
 256 #else
 257     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)global_position_int_cov, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 258 #endif
 259 }
 260
 261 #if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 262 /*
 263   This varient of _send() can be used to save stack space by re-using
 264   memory from the receive buffer.  The caller provides a
 265   mavlink_message_t which is the size of a full mavlink message. This
 266   is usually the receive buffer for the channel, and allows a reply to an
 267   incoming message with minimum stack space usage.
 268  */
 269 static inline void mavlink_msg_global_position_int_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, 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)
 270 {
 271 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 272     char *buf = (char *)msgbuf;
 273     _mav_put_uint64_t(buf, 0, time_usec);
 274     _mav_put_int32_t(buf, 8, lat);
 275     _mav_put_int32_t(buf, 12, lon);
 276     _mav_put_int32_t(buf, 16, alt);
 277     _mav_put_int32_t(buf, 20, relative_alt);
 278     _mav_put_float(buf, 24, vx);
 279     _mav_put_float(buf, 28, vy);
 280     _mav_put_float(buf, 32, vz);
 281     _mav_put_uint8_t(buf, 180, estimator_type);
 282     _mav_put_float_array(buf, 36, covariance, 36);
 283     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 284 #else
 285     mavlink_global_position_int_cov_t *packet = (mavlink_global_position_int_cov_t *)msgbuf;
 286     packet->time_usec = time_usec;
 287     packet->lat = lat;
 288     packet->lon = lon;
 289     packet->alt = alt;
 290     packet->relative_alt = relative_alt;
 291     packet->vx = vx;
 292     packet->vy = vy;
 293     packet->vz = vz;
 294     packet->estimator_type = estimator_type;
 295     mav_array_memcpy(packet->covariance, covariance, sizeof(float)*36);
 296     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_CRC);
 297 #endif
 298 }
 299 #endif
 300
 301 #endif
 302
 303 // MESSAGE GLOBAL_POSITION_INT_COV UNPACKING
 304
 305
 306 /**
 307  * @brief Get field time_usec from global_position_int_cov message
 308  *
 309  * @return Timestamp (microseconds since system boot or since UNIX epoch)
 310  */
 311 static inline uint64_t mavlink_msg_global_position_int_cov_get_time_usec(const mavlink_message_t* msg)
 312 {
 313     return _MAV_RETURN_uint64_t(msg,  0);
 314 }
 315
 316 /**
 317  * @brief Get field estimator_type from global_position_int_cov message
 318  *
 319  * @return Class id of the estimator this estimate originated from.
 320  */
 321 static inline uint8_t mavlink_msg_global_position_int_cov_get_estimator_type(const mavlink_message_t* msg)
 322 {
 323     return _MAV_RETURN_uint8_t(msg,  180);
 324 }
 325
 326 /**
 327  * @brief Get field lat from global_position_int_cov message
 328  *
 329  * @return Latitude, expressed as degrees * 1E7
 330  */
 331 static inline int32_t mavlink_msg_global_position_int_cov_get_lat(const mavlink_message_t* msg)
 332 {
 333     return _MAV_RETURN_int32_t(msg,  8);
 334 }
 335
 336 /**
 337  * @brief Get field lon from global_position_int_cov message
 338  *
 339  * @return Longitude, expressed as degrees * 1E7
 340  */
 341 static inline int32_t mavlink_msg_global_position_int_cov_get_lon(const mavlink_message_t* msg)
 342 {
 343     return _MAV_RETURN_int32_t(msg,  12);
 344 }
 345
 346 /**
 347  * @brief Get field alt from global_position_int_cov message
 348  *
 349  * @return Altitude in meters, expressed as * 1000 (millimeters), above MSL
 350  */
 351 static inline int32_t mavlink_msg_global_position_int_cov_get_alt(const mavlink_message_t* msg)
 352 {
 353     return _MAV_RETURN_int32_t(msg,  16);
 354 }
 355
 356 /**
 357  * @brief Get field relative_alt from global_position_int_cov message
 358  *
 359  * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
 360  */
 361 static inline int32_t mavlink_msg_global_position_int_cov_get_relative_alt(const mavlink_message_t* msg)
 362 {
 363     return _MAV_RETURN_int32_t(msg,  20);
 364 }
 365
 366 /**
 367  * @brief Get field vx from global_position_int_cov message
 368  *
 369  * @return Ground X Speed (Latitude), expressed as m/s
 370  */
 371 static inline float mavlink_msg_global_position_int_cov_get_vx(const mavlink_message_t* msg)
 372 {
 373     return _MAV_RETURN_float(msg,  24);
 374 }
 375
 376 /**
 377  * @brief Get field vy from global_position_int_cov message
 378  *
 379  * @return Ground Y Speed (Longitude), expressed as m/s
 380  */
 381 static inline float mavlink_msg_global_position_int_cov_get_vy(const mavlink_message_t* msg)
 382 {
 383     return _MAV_RETURN_float(msg,  28);
 384 }
 385
 386 /**
 387  * @brief Get field vz from global_position_int_cov message
 388  *
 389  * @return Ground Z Speed (Altitude), expressed as m/s
 390  */
 391 static inline float mavlink_msg_global_position_int_cov_get_vz(const mavlink_message_t* msg)
 392 {
 393     return _MAV_RETURN_float(msg,  32);
 394 }
 395
 396 /**
 397  * @brief Get field covariance from global_position_int_cov message
 398  *
 399  * @return Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
 400  */
 401 static inline uint16_t mavlink_msg_global_position_int_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
 402 {
 403     return _MAV_RETURN_float_array(msg, covariance, 36,  36);
 404 }
 405
 406 /**
 407  * @brief Decode a global_position_int_cov message into a struct
 408  *
 409  * @param msg The message to decode
 410  * @param global_position_int_cov C-struct to decode the message contents into
 411  */
 412 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)
 413 {
 414 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 415     global_position_int_cov->time_usec = mavlink_msg_global_position_int_cov_get_time_usec(msg);
 416     global_position_int_cov->lat = mavlink_msg_global_position_int_cov_get_lat(msg);
 417     global_position_int_cov->lon = mavlink_msg_global_position_int_cov_get_lon(msg);
 418     global_position_int_cov->alt = mavlink_msg_global_position_int_cov_get_alt(msg);
 419     global_position_int_cov->relative_alt = mavlink_msg_global_position_int_cov_get_relative_alt(msg);
 420     global_position_int_cov->vx = mavlink_msg_global_position_int_cov_get_vx(msg);
 421     global_position_int_cov->vy = mavlink_msg_global_position_int_cov_get_vy(msg);
 422     global_position_int_cov->vz = mavlink_msg_global_position_int_cov_get_vz(msg);
 423     mavlink_msg_global_position_int_cov_get_covariance(msg, global_position_int_cov->covariance);
 424     global_position_int_cov->estimator_type = mavlink_msg_global_position_int_cov_get_estimator_type(msg);
 425 #else
 426         uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN;
 427         memset(global_position_int_cov, 0, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_COV_LEN);
 428     memcpy(global_position_int_cov, _MAV_PAYLOAD(msg), len);
 429 #endif
 430 }