lib/main/MAVLink/common/mavlink_msg_vision_speed_estimate.h

   1 #pragma once
   2 // MESSAGE VISION_SPEED_ESTIMATE PACKING
   3
   4 #define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 103
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_vision_speed_estimate_t {
   8  uint64_t usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
   9  float x; /*< Global X speed*/
  10  float y; /*< Global Y speed*/
  11  float z; /*< Global Z speed*/
  12 }) mavlink_vision_speed_estimate_t;
  13
  14 #define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 20
  15 #define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN 20
  16 #define MAVLINK_MSG_ID_103_LEN 20
  17 #define MAVLINK_MSG_ID_103_MIN_LEN 20
  18
  19 #define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC 208
  20 #define MAVLINK_MSG_ID_103_CRC 208
  21
  22
  23
  24 #if MAVLINK_COMMAND_24BIT
  25 #define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
  26     103, \
  27     "VISION_SPEED_ESTIMATE", \
  28     4, \
  29     {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
  30          { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
  31          { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
  32          { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
  33          } \
  34 }
  35 #else
  36 #define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
  37     "VISION_SPEED_ESTIMATE", \
  38     4, \
  39     {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
  40          { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
  41          { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
  42          { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
  43          } \
  44 }
  45 #endif
  46
  47 /**
  48  * @brief Pack a vision_speed_estimate message
  49  * @param system_id ID of this system
  50  * @param component_id ID of this component (e.g. 200 for IMU)
  51  * @param msg The MAVLink message to compress the data into
  52  *
  53  * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  54  * @param x Global X speed
  55  * @param y Global Y speed
  56  * @param z Global Z speed
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  60                                uint64_t usec, float x, float y, float z)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63     char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
  64     _mav_put_uint64_t(buf, 0, usec);
  65     _mav_put_float(buf, 8, x);
  66     _mav_put_float(buf, 12, y);
  67     _mav_put_float(buf, 16, z);
  68
  69         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
  70 #else
  71     mavlink_vision_speed_estimate_t packet;
  72     packet.usec = usec;
  73     packet.x = x;
  74     packet.y = y;
  75     packet.z = z;
  76
  77         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
  78 #endif
  79
  80     msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
  81     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
  82 }
  83
  84 /**
  85  * @brief Pack a vision_speed_estimate message on a channel
  86  * @param system_id ID of this system
  87  * @param component_id ID of this component (e.g. 200 for IMU)
  88  * @param chan The MAVLink channel this message will be sent over
  89  * @param msg The MAVLink message to compress the data into
  90  * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
  91  * @param x Global X speed
  92  * @param y Global Y speed
  93  * @param z Global Z speed
  94  * @return length of the message in bytes (excluding serial stream start sign)
  95  */
  96 static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  97                                mavlink_message_t* msg,
  98                                    uint64_t usec,float x,float y,float z)
  99 {
 100 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 101     char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
 102     _mav_put_uint64_t(buf, 0, usec);
 103     _mav_put_float(buf, 8, x);
 104     _mav_put_float(buf, 12, y);
 105     _mav_put_float(buf, 16, z);
 106
 107         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
 108 #else
 109     mavlink_vision_speed_estimate_t packet;
 110     packet.usec = usec;
 111     packet.x = x;
 112     packet.y = y;
 113     packet.z = z;
 114
 115         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
 116 #endif
 117
 118     msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
 119     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
 120 }
 121
 122 /**
 123  * @brief Encode a vision_speed_estimate struct
 124  *
 125  * @param system_id ID of this system
 126  * @param component_id ID of this component (e.g. 200 for IMU)
 127  * @param msg The MAVLink message to compress the data into
 128  * @param vision_speed_estimate C-struct to read the message contents from
 129  */
 130 static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
 131 {
 132     return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
 133 }
 134
 135 /**
 136  * @brief Encode a vision_speed_estimate struct on a channel
 137  *
 138  * @param system_id ID of this system
 139  * @param component_id ID of this component (e.g. 200 for IMU)
 140  * @param chan The MAVLink channel this message will be sent over
 141  * @param msg The MAVLink message to compress the data into
 142  * @param vision_speed_estimate C-struct to read the message contents from
 143  */
 144 static inline uint16_t mavlink_msg_vision_speed_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
 145 {
 146     return mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, chan, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
 147 }
 148
 149 /**
 150  * @brief Send a vision_speed_estimate message
 151  * @param chan MAVLink channel to send the message
 152  *
 153  * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
 154  * @param x Global X speed
 155  * @param y Global Y speed
 156  * @param z Global Z speed
 157  */
 158 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 159
 160 static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
 161 {
 162 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 163     char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
 164     _mav_put_uint64_t(buf, 0, usec);
 165     _mav_put_float(buf, 8, x);
 166     _mav_put_float(buf, 12, y);
 167     _mav_put_float(buf, 16, z);
 168
 169     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
 170 #else
 171     mavlink_vision_speed_estimate_t packet;
 172     packet.usec = usec;
 173     packet.x = x;
 174     packet.y = y;
 175     packet.z = z;
 176
 177     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
 178 #endif
 179 }
 180
 181 /**
 182  * @brief Send a vision_speed_estimate message
 183  * @param chan MAVLink channel to send the message
 184  * @param struct The MAVLink struct to serialize
 185  */
 186 static inline void mavlink_msg_vision_speed_estimate_send_struct(mavlink_channel_t chan, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
 187 {
 188 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 189     mavlink_msg_vision_speed_estimate_send(chan, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
 190 #else
 191     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)vision_speed_estimate, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
 192 #endif
 193 }
 194
 195 #if MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 196 /*
 197   This varient of _send() can be used to save stack space by re-using
 198   memory from the receive buffer.  The caller provides a
 199   mavlink_message_t which is the size of a full mavlink message. This
 200   is usually the receive buffer for the channel, and allows a reply to an
 201   incoming message with minimum stack space usage.
 202  */
 203 static inline void mavlink_msg_vision_speed_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t usec, float x, float y, float z)
 204 {
 205 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 206     char *buf = (char *)msgbuf;
 207     _mav_put_uint64_t(buf, 0, usec);
 208     _mav_put_float(buf, 8, x);
 209     _mav_put_float(buf, 12, y);
 210     _mav_put_float(buf, 16, z);
 211
 212     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
 213 #else
 214     mavlink_vision_speed_estimate_t *packet = (mavlink_vision_speed_estimate_t *)msgbuf;
 215     packet->usec = usec;
 216     packet->x = x;
 217     packet->y = y;
 218     packet->z = z;
 219
 220     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
 221 #endif
 222 }
 223 #endif
 224
 225 #endif
 226
 227 // MESSAGE VISION_SPEED_ESTIMATE UNPACKING
 228
 229
 230 /**
 231  * @brief Get field usec from vision_speed_estimate message
 232  *
 233  * @return Timestamp (microseconds, synced to UNIX time or since system boot)
 234  */
 235 static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
 236 {
 237     return _MAV_RETURN_uint64_t(msg,  0);
 238 }
 239
 240 /**
 241  * @brief Get field x from vision_speed_estimate message
 242  *
 243  * @return Global X speed
 244  */
 245 static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg)
 246 {
 247     return _MAV_RETURN_float(msg,  8);
 248 }
 249
 250 /**
 251  * @brief Get field y from vision_speed_estimate message
 252  *
 253  * @return Global Y speed
 254  */
 255 static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg)
 256 {
 257     return _MAV_RETURN_float(msg,  12);
 258 }
 259
 260 /**
 261  * @brief Get field z from vision_speed_estimate message
 262  *
 263  * @return Global Z speed
 264  */
 265 static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg)
 266 {
 267     return _MAV_RETURN_float(msg,  16);
 268 }
 269
 270 /**
 271  * @brief Decode a vision_speed_estimate message into a struct
 272  *
 273  * @param msg The message to decode
 274  * @param vision_speed_estimate C-struct to decode the message contents into
 275  */
 276 static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate)
 277 {
 278 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 279     vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg);
 280     vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
 281     vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
 282     vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
 283 #else
 284         uint8_t len = msg->len < MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN;
 285         memset(vision_speed_estimate, 0, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
 286     memcpy(vision_speed_estimate, _MAV_PAYLOAD(msg), len);
 287 #endif
 288 }