lib/main/MAVLink/common/mavlink_msg_landing_target.h

   1 #pragma once
   2 // MESSAGE LANDING_TARGET PACKING
   3
   4 #define MAVLINK_MSG_ID_LANDING_TARGET 149
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_landing_target_t {
   8  uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
   9  float angle_x; /*< X-axis angular offset (in radians) of the target from the center of the image*/
  10  float angle_y; /*< Y-axis angular offset (in radians) of the target from the center of the image*/
  11  float distance; /*< Distance to the target from the vehicle in meters*/
  12  float size_x; /*< Size in radians of target along x-axis*/
  13  float size_y; /*< Size in radians of target along y-axis*/
  14  uint8_t target_num; /*< The ID of the target if multiple targets are present*/
  15  uint8_t frame; /*< MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.*/
  16 }) mavlink_landing_target_t;
  17
  18 #define MAVLINK_MSG_ID_LANDING_TARGET_LEN 30
  19 #define MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN 30
  20 #define MAVLINK_MSG_ID_149_LEN 30
  21 #define MAVLINK_MSG_ID_149_MIN_LEN 30
  22
  23 #define MAVLINK_MSG_ID_LANDING_TARGET_CRC 200
  24 #define MAVLINK_MSG_ID_149_CRC 200
  25
  26
  27
  28 #if MAVLINK_COMMAND_24BIT
  29 #define MAVLINK_MESSAGE_INFO_LANDING_TARGET { \
  30     149, \
  31     "LANDING_TARGET", \
  32     8, \
  33     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_landing_target_t, time_usec) }, \
  34          { "angle_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_landing_target_t, angle_x) }, \
  35          { "angle_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_landing_target_t, angle_y) }, \
  36          { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_landing_target_t, distance) }, \
  37          { "size_x", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_landing_target_t, size_x) }, \
  38          { "size_y", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_landing_target_t, size_y) }, \
  39          { "target_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_landing_target_t, target_num) }, \
  40          { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_landing_target_t, frame) }, \
  41          } \
  42 }
  43 #else
  44 #define MAVLINK_MESSAGE_INFO_LANDING_TARGET { \
  45     "LANDING_TARGET", \
  46     8, \
  47     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_landing_target_t, time_usec) }, \
  48          { "angle_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_landing_target_t, angle_x) }, \
  49          { "angle_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_landing_target_t, angle_y) }, \
  50          { "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_landing_target_t, distance) }, \
  51          { "size_x", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_landing_target_t, size_x) }, \
  52          { "size_y", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_landing_target_t, size_y) }, \
  53          { "target_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_landing_target_t, target_num) }, \
  54          { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_landing_target_t, frame) }, \
  55          } \
  56 }
  57 #endif
  58
  59 /**
  60  * @brief Pack a landing_target message
  61  * @param system_id ID of this system
  62  * @param component_id ID of this component (e.g. 200 for IMU)
  63  * @param msg The MAVLink message to compress the data into
  64  *
  65  * @param time_usec Timestamp (micros since boot or Unix epoch)
  66  * @param target_num The ID of the target if multiple targets are present
  67  * @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
  68  * @param angle_x X-axis angular offset (in radians) of the target from the center of the image
  69  * @param angle_y Y-axis angular offset (in radians) of the target from the center of the image
  70  * @param distance Distance to the target from the vehicle in meters
  71  * @param size_x Size in radians of target along x-axis
  72  * @param size_y Size in radians of target along y-axis
  73  * @return length of the message in bytes (excluding serial stream start sign)
  74  */
  75 static inline uint16_t mavlink_msg_landing_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  76                                uint64_t time_usec, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance, float size_x, float size_y)
  77 {
  78 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  79     char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN];
  80     _mav_put_uint64_t(buf, 0, time_usec);
  81     _mav_put_float(buf, 8, angle_x);
  82     _mav_put_float(buf, 12, angle_y);
  83     _mav_put_float(buf, 16, distance);
  84     _mav_put_float(buf, 20, size_x);
  85     _mav_put_float(buf, 24, size_y);
  86     _mav_put_uint8_t(buf, 28, target_num);
  87     _mav_put_uint8_t(buf, 29, frame);
  88
  89         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
  90 #else
  91     mavlink_landing_target_t packet;
  92     packet.time_usec = time_usec;
  93     packet.angle_x = angle_x;
  94     packet.angle_y = angle_y;
  95     packet.distance = distance;
  96     packet.size_x = size_x;
  97     packet.size_y = size_y;
  98     packet.target_num = target_num;
  99     packet.frame = frame;
 100
 101         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
 102 #endif
 103
 104     msg->msgid = MAVLINK_MSG_ID_LANDING_TARGET;
 105     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
 106 }
 107
 108 /**
 109  * @brief Pack a landing_target message on a channel
 110  * @param system_id ID of this system
 111  * @param component_id ID of this component (e.g. 200 for IMU)
 112  * @param chan The MAVLink channel this message will be sent over
 113  * @param msg The MAVLink message to compress the data into
 114  * @param time_usec Timestamp (micros since boot or Unix epoch)
 115  * @param target_num The ID of the target if multiple targets are present
 116  * @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
 117  * @param angle_x X-axis angular offset (in radians) of the target from the center of the image
 118  * @param angle_y Y-axis angular offset (in radians) of the target from the center of the image
 119  * @param distance Distance to the target from the vehicle in meters
 120  * @param size_x Size in radians of target along x-axis
 121  * @param size_y Size in radians of target along y-axis
 122  * @return length of the message in bytes (excluding serial stream start sign)
 123  */
 124 static inline uint16_t mavlink_msg_landing_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 125                                mavlink_message_t* msg,
 126                                    uint64_t time_usec,uint8_t target_num,uint8_t frame,float angle_x,float angle_y,float distance,float size_x,float size_y)
 127 {
 128 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 129     char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN];
 130     _mav_put_uint64_t(buf, 0, time_usec);
 131     _mav_put_float(buf, 8, angle_x);
 132     _mav_put_float(buf, 12, angle_y);
 133     _mav_put_float(buf, 16, distance);
 134     _mav_put_float(buf, 20, size_x);
 135     _mav_put_float(buf, 24, size_y);
 136     _mav_put_uint8_t(buf, 28, target_num);
 137     _mav_put_uint8_t(buf, 29, frame);
 138
 139         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
 140 #else
 141     mavlink_landing_target_t packet;
 142     packet.time_usec = time_usec;
 143     packet.angle_x = angle_x;
 144     packet.angle_y = angle_y;
 145     packet.distance = distance;
 146     packet.size_x = size_x;
 147     packet.size_y = size_y;
 148     packet.target_num = target_num;
 149     packet.frame = frame;
 150
 151         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
 152 #endif
 153
 154     msg->msgid = MAVLINK_MSG_ID_LANDING_TARGET;
 155     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
 156 }
 157
 158 /**
 159  * @brief Encode a landing_target struct
 160  *
 161  * @param system_id ID of this system
 162  * @param component_id ID of this component (e.g. 200 for IMU)
 163  * @param msg The MAVLink message to compress the data into
 164  * @param landing_target C-struct to read the message contents from
 165  */
 166 static inline uint16_t mavlink_msg_landing_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_landing_target_t* landing_target)
 167 {
 168     return mavlink_msg_landing_target_pack(system_id, component_id, msg, landing_target->time_usec, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance, landing_target->size_x, landing_target->size_y);
 169 }
 170
 171 /**
 172  * @brief Encode a landing_target struct on a channel
 173  *
 174  * @param system_id ID of this system
 175  * @param component_id ID of this component (e.g. 200 for IMU)
 176  * @param chan The MAVLink channel this message will be sent over
 177  * @param msg The MAVLink message to compress the data into
 178  * @param landing_target C-struct to read the message contents from
 179  */
 180 static inline uint16_t mavlink_msg_landing_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_landing_target_t* landing_target)
 181 {
 182     return mavlink_msg_landing_target_pack_chan(system_id, component_id, chan, msg, landing_target->time_usec, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance, landing_target->size_x, landing_target->size_y);
 183 }
 184
 185 /**
 186  * @brief Send a landing_target message
 187  * @param chan MAVLink channel to send the message
 188  *
 189  * @param time_usec Timestamp (micros since boot or Unix epoch)
 190  * @param target_num The ID of the target if multiple targets are present
 191  * @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
 192  * @param angle_x X-axis angular offset (in radians) of the target from the center of the image
 193  * @param angle_y Y-axis angular offset (in radians) of the target from the center of the image
 194  * @param distance Distance to the target from the vehicle in meters
 195  * @param size_x Size in radians of target along x-axis
 196  * @param size_y Size in radians of target along y-axis
 197  */
 198 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 199
 200 static inline void mavlink_msg_landing_target_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance, float size_x, float size_y)
 201 {
 202 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 203     char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN];
 204     _mav_put_uint64_t(buf, 0, time_usec);
 205     _mav_put_float(buf, 8, angle_x);
 206     _mav_put_float(buf, 12, angle_y);
 207     _mav_put_float(buf, 16, distance);
 208     _mav_put_float(buf, 20, size_x);
 209     _mav_put_float(buf, 24, size_y);
 210     _mav_put_uint8_t(buf, 28, target_num);
 211     _mav_put_uint8_t(buf, 29, frame);
 212
 213     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
 214 #else
 215     mavlink_landing_target_t packet;
 216     packet.time_usec = time_usec;
 217     packet.angle_x = angle_x;
 218     packet.angle_y = angle_y;
 219     packet.distance = distance;
 220     packet.size_x = size_x;
 221     packet.size_y = size_y;
 222     packet.target_num = target_num;
 223     packet.frame = frame;
 224
 225     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)&packet, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
 226 #endif
 227 }
 228
 229 /**
 230  * @brief Send a landing_target message
 231  * @param chan MAVLink channel to send the message
 232  * @param struct The MAVLink struct to serialize
 233  */
 234 static inline void mavlink_msg_landing_target_send_struct(mavlink_channel_t chan, const mavlink_landing_target_t* landing_target)
 235 {
 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 237     mavlink_msg_landing_target_send(chan, landing_target->time_usec, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance, landing_target->size_x, landing_target->size_y);
 238 #else
 239     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)landing_target, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
 240 #endif
 241 }
 242
 243 #if MAVLINK_MSG_ID_LANDING_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 244 /*
 245   This varient of _send() can be used to save stack space by re-using
 246   memory from the receive buffer.  The caller provides a
 247   mavlink_message_t which is the size of a full mavlink message. This
 248   is usually the receive buffer for the channel, and allows a reply to an
 249   incoming message with minimum stack space usage.
 250  */
 251 static inline void mavlink_msg_landing_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance, float size_x, float size_y)
 252 {
 253 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 254     char *buf = (char *)msgbuf;
 255     _mav_put_uint64_t(buf, 0, time_usec);
 256     _mav_put_float(buf, 8, angle_x);
 257     _mav_put_float(buf, 12, angle_y);
 258     _mav_put_float(buf, 16, distance);
 259     _mav_put_float(buf, 20, size_x);
 260     _mav_put_float(buf, 24, size_y);
 261     _mav_put_uint8_t(buf, 28, target_num);
 262     _mav_put_uint8_t(buf, 29, frame);
 263
 264     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
 265 #else
 266     mavlink_landing_target_t *packet = (mavlink_landing_target_t *)msgbuf;
 267     packet->time_usec = time_usec;
 268     packet->angle_x = angle_x;
 269     packet->angle_y = angle_y;
 270     packet->distance = distance;
 271     packet->size_x = size_x;
 272     packet->size_y = size_y;
 273     packet->target_num = target_num;
 274     packet->frame = frame;
 275
 276     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)packet, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
 277 #endif
 278 }
 279 #endif
 280
 281 #endif
 282
 283 // MESSAGE LANDING_TARGET UNPACKING
 284
 285
 286 /**
 287  * @brief Get field time_usec from landing_target message
 288  *
 289  * @return Timestamp (micros since boot or Unix epoch)
 290  */
 291 static inline uint64_t mavlink_msg_landing_target_get_time_usec(const mavlink_message_t* msg)
 292 {
 293     return _MAV_RETURN_uint64_t(msg,  0);
 294 }
 295
 296 /**
 297  * @brief Get field target_num from landing_target message
 298  *
 299  * @return The ID of the target if multiple targets are present
 300  */
 301 static inline uint8_t mavlink_msg_landing_target_get_target_num(const mavlink_message_t* msg)
 302 {
 303     return _MAV_RETURN_uint8_t(msg,  28);
 304 }
 305
 306 /**
 307  * @brief Get field frame from landing_target message
 308  *
 309  * @return MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
 310  */
 311 static inline uint8_t mavlink_msg_landing_target_get_frame(const mavlink_message_t* msg)
 312 {
 313     return _MAV_RETURN_uint8_t(msg,  29);
 314 }
 315
 316 /**
 317  * @brief Get field angle_x from landing_target message
 318  *
 319  * @return X-axis angular offset (in radians) of the target from the center of the image
 320  */
 321 static inline float mavlink_msg_landing_target_get_angle_x(const mavlink_message_t* msg)
 322 {
 323     return _MAV_RETURN_float(msg,  8);
 324 }
 325
 326 /**
 327  * @brief Get field angle_y from landing_target message
 328  *
 329  * @return Y-axis angular offset (in radians) of the target from the center of the image
 330  */
 331 static inline float mavlink_msg_landing_target_get_angle_y(const mavlink_message_t* msg)
 332 {
 333     return _MAV_RETURN_float(msg,  12);
 334 }
 335
 336 /**
 337  * @brief Get field distance from landing_target message
 338  *
 339  * @return Distance to the target from the vehicle in meters
 340  */
 341 static inline float mavlink_msg_landing_target_get_distance(const mavlink_message_t* msg)
 342 {
 343     return _MAV_RETURN_float(msg,  16);
 344 }
 345
 346 /**
 347  * @brief Get field size_x from landing_target message
 348  *
 349  * @return Size in radians of target along x-axis
 350  */
 351 static inline float mavlink_msg_landing_target_get_size_x(const mavlink_message_t* msg)
 352 {
 353     return _MAV_RETURN_float(msg,  20);
 354 }
 355
 356 /**
 357  * @brief Get field size_y from landing_target message
 358  *
 359  * @return Size in radians of target along y-axis
 360  */
 361 static inline float mavlink_msg_landing_target_get_size_y(const mavlink_message_t* msg)
 362 {
 363     return _MAV_RETURN_float(msg,  24);
 364 }
 365
 366 /**
 367  * @brief Decode a landing_target message into a struct
 368  *
 369  * @param msg The message to decode
 370  * @param landing_target C-struct to decode the message contents into
 371  */
 372 static inline void mavlink_msg_landing_target_decode(const mavlink_message_t* msg, mavlink_landing_target_t* landing_target)
 373 {
 374 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 375     landing_target->time_usec = mavlink_msg_landing_target_get_time_usec(msg);
 376     landing_target->angle_x = mavlink_msg_landing_target_get_angle_x(msg);
 377     landing_target->angle_y = mavlink_msg_landing_target_get_angle_y(msg);
 378     landing_target->distance = mavlink_msg_landing_target_get_distance(msg);
 379     landing_target->size_x = mavlink_msg_landing_target_get_size_x(msg);
 380     landing_target->size_y = mavlink_msg_landing_target_get_size_y(msg);
 381     landing_target->target_num = mavlink_msg_landing_target_get_target_num(msg);
 382     landing_target->frame = mavlink_msg_landing_target_get_frame(msg);
 383 #else
 384         uint8_t len = msg->len < MAVLINK_MSG_ID_LANDING_TARGET_LEN? msg->len : MAVLINK_MSG_ID_LANDING_TARGET_LEN;
 385         memset(landing_target, 0, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
 386     memcpy(landing_target, _MAV_PAYLOAD(msg), len);
 387 #endif
 388 }