lib/main/MAVLink/common/mavlink_msg_estimator_status.h

   1 #pragma once
   2 // MESSAGE ESTIMATOR_STATUS PACKING
   3
   4 #define MAVLINK_MSG_ID_ESTIMATOR_STATUS 230
   5
   6
   7 typedef struct __mavlink_estimator_status_t {
   8  uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
   9  float vel_ratio; /*<  Velocity innovation test ratio*/
  10  float pos_horiz_ratio; /*<  Horizontal position innovation test ratio*/
  11  float pos_vert_ratio; /*<  Vertical position innovation test ratio*/
  12  float mag_ratio; /*<  Magnetometer innovation test ratio*/
  13  float hagl_ratio; /*<  Height above terrain innovation test ratio*/
  14  float tas_ratio; /*<  True airspeed innovation test ratio*/
  15  float pos_horiz_accuracy; /*< [m] Horizontal position 1-STD accuracy relative to the EKF local origin*/
  16  float pos_vert_accuracy; /*< [m] Vertical position 1-STD accuracy relative to the EKF local origin*/
  17  uint16_t flags; /*<  Bitmap indicating which EKF outputs are valid.*/
  18 } mavlink_estimator_status_t;
  19
  20 #define MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN 42
  21 #define MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN 42
  22 #define MAVLINK_MSG_ID_230_LEN 42
  23 #define MAVLINK_MSG_ID_230_MIN_LEN 42
  24
  25 #define MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC 163
  26 #define MAVLINK_MSG_ID_230_CRC 163
  27
  28
  29
  30 #if MAVLINK_COMMAND_24BIT
  31 #define MAVLINK_MESSAGE_INFO_ESTIMATOR_STATUS { \
  32     230, \
  33     "ESTIMATOR_STATUS", \
  34     10, \
  35     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_estimator_status_t, time_usec) }, \
  36          { "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_estimator_status_t, flags) }, \
  37          { "vel_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_estimator_status_t, vel_ratio) }, \
  38          { "pos_horiz_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_estimator_status_t, pos_horiz_ratio) }, \
  39          { "pos_vert_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_estimator_status_t, pos_vert_ratio) }, \
  40          { "mag_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_estimator_status_t, mag_ratio) }, \
  41          { "hagl_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_estimator_status_t, hagl_ratio) }, \
  42          { "tas_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_estimator_status_t, tas_ratio) }, \
  43          { "pos_horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_estimator_status_t, pos_horiz_accuracy) }, \
  44          { "pos_vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_estimator_status_t, pos_vert_accuracy) }, \
  45          } \
  46 }
  47 #else
  48 #define MAVLINK_MESSAGE_INFO_ESTIMATOR_STATUS { \
  49     "ESTIMATOR_STATUS", \
  50     10, \
  51     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_estimator_status_t, time_usec) }, \
  52          { "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_estimator_status_t, flags) }, \
  53          { "vel_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_estimator_status_t, vel_ratio) }, \
  54          { "pos_horiz_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_estimator_status_t, pos_horiz_ratio) }, \
  55          { "pos_vert_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_estimator_status_t, pos_vert_ratio) }, \
  56          { "mag_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_estimator_status_t, mag_ratio) }, \
  57          { "hagl_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_estimator_status_t, hagl_ratio) }, \
  58          { "tas_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_estimator_status_t, tas_ratio) }, \
  59          { "pos_horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_estimator_status_t, pos_horiz_accuracy) }, \
  60          { "pos_vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_estimator_status_t, pos_vert_accuracy) }, \
  61          } \
  62 }
  63 #endif
  64
  65 /**
  66  * @brief Pack a estimator_status 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 [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
  72  * @param flags  Bitmap indicating which EKF outputs are valid.
  73  * @param vel_ratio  Velocity innovation test ratio
  74  * @param pos_horiz_ratio  Horizontal position innovation test ratio
  75  * @param pos_vert_ratio  Vertical position innovation test ratio
  76  * @param mag_ratio  Magnetometer innovation test ratio
  77  * @param hagl_ratio  Height above terrain innovation test ratio
  78  * @param tas_ratio  True airspeed innovation test ratio
  79  * @param pos_horiz_accuracy [m] Horizontal position 1-STD accuracy relative to the EKF local origin
  80  * @param pos_vert_accuracy [m] Vertical position 1-STD accuracy relative to the EKF local origin
  81  * @return length of the message in bytes (excluding serial stream start sign)
  82  */
  83 static inline uint16_t mavlink_msg_estimator_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  84                                uint64_t time_usec, uint16_t flags, float vel_ratio, float pos_horiz_ratio, float pos_vert_ratio, float mag_ratio, float hagl_ratio, float tas_ratio, float pos_horiz_accuracy, float pos_vert_accuracy)
  85 {
  86 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  87     char buf[MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN];
  88     _mav_put_uint64_t(buf, 0, time_usec);
  89     _mav_put_float(buf, 8, vel_ratio);
  90     _mav_put_float(buf, 12, pos_horiz_ratio);
  91     _mav_put_float(buf, 16, pos_vert_ratio);
  92     _mav_put_float(buf, 20, mag_ratio);
  93     _mav_put_float(buf, 24, hagl_ratio);
  94     _mav_put_float(buf, 28, tas_ratio);
  95     _mav_put_float(buf, 32, pos_horiz_accuracy);
  96     _mav_put_float(buf, 36, pos_vert_accuracy);
  97     _mav_put_uint16_t(buf, 40, flags);
  98
  99         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
 100 #else
 101     mavlink_estimator_status_t packet;
 102     packet.time_usec = time_usec;
 103     packet.vel_ratio = vel_ratio;
 104     packet.pos_horiz_ratio = pos_horiz_ratio;
 105     packet.pos_vert_ratio = pos_vert_ratio;
 106     packet.mag_ratio = mag_ratio;
 107     packet.hagl_ratio = hagl_ratio;
 108     packet.tas_ratio = tas_ratio;
 109     packet.pos_horiz_accuracy = pos_horiz_accuracy;
 110     packet.pos_vert_accuracy = pos_vert_accuracy;
 111     packet.flags = flags;
 112
 113         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
 114 #endif
 115
 116     msg->msgid = MAVLINK_MSG_ID_ESTIMATOR_STATUS;
 117     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
 118 }
 119
 120 /**
 121  * @brief Pack a estimator_status message on a channel
 122  * @param system_id ID of this system
 123  * @param component_id ID of this component (e.g. 200 for IMU)
 124  * @param chan The MAVLink channel this message will be sent over
 125  * @param msg The MAVLink message to compress the data into
 126  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 127  * @param flags  Bitmap indicating which EKF outputs are valid.
 128  * @param vel_ratio  Velocity innovation test ratio
 129  * @param pos_horiz_ratio  Horizontal position innovation test ratio
 130  * @param pos_vert_ratio  Vertical position innovation test ratio
 131  * @param mag_ratio  Magnetometer innovation test ratio
 132  * @param hagl_ratio  Height above terrain innovation test ratio
 133  * @param tas_ratio  True airspeed innovation test ratio
 134  * @param pos_horiz_accuracy [m] Horizontal position 1-STD accuracy relative to the EKF local origin
 135  * @param pos_vert_accuracy [m] Vertical position 1-STD accuracy relative to the EKF local origin
 136  * @return length of the message in bytes (excluding serial stream start sign)
 137  */
 138 static inline uint16_t mavlink_msg_estimator_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 139                                mavlink_message_t* msg,
 140                                    uint64_t time_usec,uint16_t flags,float vel_ratio,float pos_horiz_ratio,float pos_vert_ratio,float mag_ratio,float hagl_ratio,float tas_ratio,float pos_horiz_accuracy,float pos_vert_accuracy)
 141 {
 142 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 143     char buf[MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN];
 144     _mav_put_uint64_t(buf, 0, time_usec);
 145     _mav_put_float(buf, 8, vel_ratio);
 146     _mav_put_float(buf, 12, pos_horiz_ratio);
 147     _mav_put_float(buf, 16, pos_vert_ratio);
 148     _mav_put_float(buf, 20, mag_ratio);
 149     _mav_put_float(buf, 24, hagl_ratio);
 150     _mav_put_float(buf, 28, tas_ratio);
 151     _mav_put_float(buf, 32, pos_horiz_accuracy);
 152     _mav_put_float(buf, 36, pos_vert_accuracy);
 153     _mav_put_uint16_t(buf, 40, flags);
 154
 155         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
 156 #else
 157     mavlink_estimator_status_t packet;
 158     packet.time_usec = time_usec;
 159     packet.vel_ratio = vel_ratio;
 160     packet.pos_horiz_ratio = pos_horiz_ratio;
 161     packet.pos_vert_ratio = pos_vert_ratio;
 162     packet.mag_ratio = mag_ratio;
 163     packet.hagl_ratio = hagl_ratio;
 164     packet.tas_ratio = tas_ratio;
 165     packet.pos_horiz_accuracy = pos_horiz_accuracy;
 166     packet.pos_vert_accuracy = pos_vert_accuracy;
 167     packet.flags = flags;
 168
 169         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
 170 #endif
 171
 172     msg->msgid = MAVLINK_MSG_ID_ESTIMATOR_STATUS;
 173     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
 174 }
 175
 176 /**
 177  * @brief Encode a estimator_status struct
 178  *
 179  * @param system_id ID of this system
 180  * @param component_id ID of this component (e.g. 200 for IMU)
 181  * @param msg The MAVLink message to compress the data into
 182  * @param estimator_status C-struct to read the message contents from
 183  */
 184 static inline uint16_t mavlink_msg_estimator_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_estimator_status_t* estimator_status)
 185 {
 186     return mavlink_msg_estimator_status_pack(system_id, component_id, msg, estimator_status->time_usec, estimator_status->flags, estimator_status->vel_ratio, estimator_status->pos_horiz_ratio, estimator_status->pos_vert_ratio, estimator_status->mag_ratio, estimator_status->hagl_ratio, estimator_status->tas_ratio, estimator_status->pos_horiz_accuracy, estimator_status->pos_vert_accuracy);
 187 }
 188
 189 /**
 190  * @brief Encode a estimator_status struct on a channel
 191  *
 192  * @param system_id ID of this system
 193  * @param component_id ID of this component (e.g. 200 for IMU)
 194  * @param chan The MAVLink channel this message will be sent over
 195  * @param msg The MAVLink message to compress the data into
 196  * @param estimator_status C-struct to read the message contents from
 197  */
 198 static inline uint16_t mavlink_msg_estimator_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_estimator_status_t* estimator_status)
 199 {
 200     return mavlink_msg_estimator_status_pack_chan(system_id, component_id, chan, msg, estimator_status->time_usec, estimator_status->flags, estimator_status->vel_ratio, estimator_status->pos_horiz_ratio, estimator_status->pos_vert_ratio, estimator_status->mag_ratio, estimator_status->hagl_ratio, estimator_status->tas_ratio, estimator_status->pos_horiz_accuracy, estimator_status->pos_vert_accuracy);
 201 }
 202
 203 /**
 204  * @brief Send a estimator_status message
 205  * @param chan MAVLink channel to send the message
 206  *
 207  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 208  * @param flags  Bitmap indicating which EKF outputs are valid.
 209  * @param vel_ratio  Velocity innovation test ratio
 210  * @param pos_horiz_ratio  Horizontal position innovation test ratio
 211  * @param pos_vert_ratio  Vertical position innovation test ratio
 212  * @param mag_ratio  Magnetometer innovation test ratio
 213  * @param hagl_ratio  Height above terrain innovation test ratio
 214  * @param tas_ratio  True airspeed innovation test ratio
 215  * @param pos_horiz_accuracy [m] Horizontal position 1-STD accuracy relative to the EKF local origin
 216  * @param pos_vert_accuracy [m] Vertical position 1-STD accuracy relative to the EKF local origin
 217  */
 218 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 219
 220 static inline void mavlink_msg_estimator_status_send(mavlink_channel_t chan, uint64_t time_usec, uint16_t flags, float vel_ratio, float pos_horiz_ratio, float pos_vert_ratio, float mag_ratio, float hagl_ratio, float tas_ratio, float pos_horiz_accuracy, float pos_vert_accuracy)
 221 {
 222 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 223     char buf[MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN];
 224     _mav_put_uint64_t(buf, 0, time_usec);
 225     _mav_put_float(buf, 8, vel_ratio);
 226     _mav_put_float(buf, 12, pos_horiz_ratio);
 227     _mav_put_float(buf, 16, pos_vert_ratio);
 228     _mav_put_float(buf, 20, mag_ratio);
 229     _mav_put_float(buf, 24, hagl_ratio);
 230     _mav_put_float(buf, 28, tas_ratio);
 231     _mav_put_float(buf, 32, pos_horiz_accuracy);
 232     _mav_put_float(buf, 36, pos_vert_accuracy);
 233     _mav_put_uint16_t(buf, 40, flags);
 234
 235     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
 236 #else
 237     mavlink_estimator_status_t packet;
 238     packet.time_usec = time_usec;
 239     packet.vel_ratio = vel_ratio;
 240     packet.pos_horiz_ratio = pos_horiz_ratio;
 241     packet.pos_vert_ratio = pos_vert_ratio;
 242     packet.mag_ratio = mag_ratio;
 243     packet.hagl_ratio = hagl_ratio;
 244     packet.tas_ratio = tas_ratio;
 245     packet.pos_horiz_accuracy = pos_horiz_accuracy;
 246     packet.pos_vert_accuracy = pos_vert_accuracy;
 247     packet.flags = flags;
 248
 249     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, (const char *)&packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
 250 #endif
 251 }
 252
 253 /**
 254  * @brief Send a estimator_status message
 255  * @param chan MAVLink channel to send the message
 256  * @param struct The MAVLink struct to serialize
 257  */
 258 static inline void mavlink_msg_estimator_status_send_struct(mavlink_channel_t chan, const mavlink_estimator_status_t* estimator_status)
 259 {
 260 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 261     mavlink_msg_estimator_status_send(chan, estimator_status->time_usec, estimator_status->flags, estimator_status->vel_ratio, estimator_status->pos_horiz_ratio, estimator_status->pos_vert_ratio, estimator_status->mag_ratio, estimator_status->hagl_ratio, estimator_status->tas_ratio, estimator_status->pos_horiz_accuracy, estimator_status->pos_vert_accuracy);
 262 #else
 263     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, (const char *)estimator_status, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
 264 #endif
 265 }
 266
 267 #if MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 268 /*
 269   This varient of _send() can be used to save stack space by re-using
 270   memory from the receive buffer.  The caller provides a
 271   mavlink_message_t which is the size of a full mavlink message. This
 272   is usually the receive buffer for the channel, and allows a reply to an
 273   incoming message with minimum stack space usage.
 274  */
 275 static inline void mavlink_msg_estimator_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint16_t flags, float vel_ratio, float pos_horiz_ratio, float pos_vert_ratio, float mag_ratio, float hagl_ratio, float tas_ratio, float pos_horiz_accuracy, float pos_vert_accuracy)
 276 {
 277 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 278     char *buf = (char *)msgbuf;
 279     _mav_put_uint64_t(buf, 0, time_usec);
 280     _mav_put_float(buf, 8, vel_ratio);
 281     _mav_put_float(buf, 12, pos_horiz_ratio);
 282     _mav_put_float(buf, 16, pos_vert_ratio);
 283     _mav_put_float(buf, 20, mag_ratio);
 284     _mav_put_float(buf, 24, hagl_ratio);
 285     _mav_put_float(buf, 28, tas_ratio);
 286     _mav_put_float(buf, 32, pos_horiz_accuracy);
 287     _mav_put_float(buf, 36, pos_vert_accuracy);
 288     _mav_put_uint16_t(buf, 40, flags);
 289
 290     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
 291 #else
 292     mavlink_estimator_status_t *packet = (mavlink_estimator_status_t *)msgbuf;
 293     packet->time_usec = time_usec;
 294     packet->vel_ratio = vel_ratio;
 295     packet->pos_horiz_ratio = pos_horiz_ratio;
 296     packet->pos_vert_ratio = pos_vert_ratio;
 297     packet->mag_ratio = mag_ratio;
 298     packet->hagl_ratio = hagl_ratio;
 299     packet->tas_ratio = tas_ratio;
 300     packet->pos_horiz_accuracy = pos_horiz_accuracy;
 301     packet->pos_vert_accuracy = pos_vert_accuracy;
 302     packet->flags = flags;
 303
 304     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, (const char *)packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
 305 #endif
 306 }
 307 #endif
 308
 309 #endif
 310
 311 // MESSAGE ESTIMATOR_STATUS UNPACKING
 312
 313
 314 /**
 315  * @brief Get field time_usec from estimator_status message
 316  *
 317  * @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 318  */
 319 static inline uint64_t mavlink_msg_estimator_status_get_time_usec(const mavlink_message_t* msg)
 320 {
 321     return _MAV_RETURN_uint64_t(msg,  0);
 322 }
 323
 324 /**
 325  * @brief Get field flags from estimator_status message
 326  *
 327  * @return  Bitmap indicating which EKF outputs are valid.
 328  */
 329 static inline uint16_t mavlink_msg_estimator_status_get_flags(const mavlink_message_t* msg)
 330 {
 331     return _MAV_RETURN_uint16_t(msg,  40);
 332 }
 333
 334 /**
 335  * @brief Get field vel_ratio from estimator_status message
 336  *
 337  * @return  Velocity innovation test ratio
 338  */
 339 static inline float mavlink_msg_estimator_status_get_vel_ratio(const mavlink_message_t* msg)
 340 {
 341     return _MAV_RETURN_float(msg,  8);
 342 }
 343
 344 /**
 345  * @brief Get field pos_horiz_ratio from estimator_status message
 346  *
 347  * @return  Horizontal position innovation test ratio
 348  */
 349 static inline float mavlink_msg_estimator_status_get_pos_horiz_ratio(const mavlink_message_t* msg)
 350 {
 351     return _MAV_RETURN_float(msg,  12);
 352 }
 353
 354 /**
 355  * @brief Get field pos_vert_ratio from estimator_status message
 356  *
 357  * @return  Vertical position innovation test ratio
 358  */
 359 static inline float mavlink_msg_estimator_status_get_pos_vert_ratio(const mavlink_message_t* msg)
 360 {
 361     return _MAV_RETURN_float(msg,  16);
 362 }
 363
 364 /**
 365  * @brief Get field mag_ratio from estimator_status message
 366  *
 367  * @return  Magnetometer innovation test ratio
 368  */
 369 static inline float mavlink_msg_estimator_status_get_mag_ratio(const mavlink_message_t* msg)
 370 {
 371     return _MAV_RETURN_float(msg,  20);
 372 }
 373
 374 /**
 375  * @brief Get field hagl_ratio from estimator_status message
 376  *
 377  * @return  Height above terrain innovation test ratio
 378  */
 379 static inline float mavlink_msg_estimator_status_get_hagl_ratio(const mavlink_message_t* msg)
 380 {
 381     return _MAV_RETURN_float(msg,  24);
 382 }
 383
 384 /**
 385  * @brief Get field tas_ratio from estimator_status message
 386  *
 387  * @return  True airspeed innovation test ratio
 388  */
 389 static inline float mavlink_msg_estimator_status_get_tas_ratio(const mavlink_message_t* msg)
 390 {
 391     return _MAV_RETURN_float(msg,  28);
 392 }
 393
 394 /**
 395  * @brief Get field pos_horiz_accuracy from estimator_status message
 396  *
 397  * @return [m] Horizontal position 1-STD accuracy relative to the EKF local origin
 398  */
 399 static inline float mavlink_msg_estimator_status_get_pos_horiz_accuracy(const mavlink_message_t* msg)
 400 {
 401     return _MAV_RETURN_float(msg,  32);
 402 }
 403
 404 /**
 405  * @brief Get field pos_vert_accuracy from estimator_status message
 406  *
 407  * @return [m] Vertical position 1-STD accuracy relative to the EKF local origin
 408  */
 409 static inline float mavlink_msg_estimator_status_get_pos_vert_accuracy(const mavlink_message_t* msg)
 410 {
 411     return _MAV_RETURN_float(msg,  36);
 412 }
 413
 414 /**
 415  * @brief Decode a estimator_status message into a struct
 416  *
 417  * @param msg The message to decode
 418  * @param estimator_status C-struct to decode the message contents into
 419  */
 420 static inline void mavlink_msg_estimator_status_decode(const mavlink_message_t* msg, mavlink_estimator_status_t* estimator_status)
 421 {
 422 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 423     estimator_status->time_usec = mavlink_msg_estimator_status_get_time_usec(msg);
 424     estimator_status->vel_ratio = mavlink_msg_estimator_status_get_vel_ratio(msg);
 425     estimator_status->pos_horiz_ratio = mavlink_msg_estimator_status_get_pos_horiz_ratio(msg);
 426     estimator_status->pos_vert_ratio = mavlink_msg_estimator_status_get_pos_vert_ratio(msg);
 427     estimator_status->mag_ratio = mavlink_msg_estimator_status_get_mag_ratio(msg);
 428     estimator_status->hagl_ratio = mavlink_msg_estimator_status_get_hagl_ratio(msg);
 429     estimator_status->tas_ratio = mavlink_msg_estimator_status_get_tas_ratio(msg);
 430     estimator_status->pos_horiz_accuracy = mavlink_msg_estimator_status_get_pos_horiz_accuracy(msg);
 431     estimator_status->pos_vert_accuracy = mavlink_msg_estimator_status_get_pos_vert_accuracy(msg);
 432     estimator_status->flags = mavlink_msg_estimator_status_get_flags(msg);
 433 #else
 434         uint8_t len = msg->len < MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN? msg->len : MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN;
 435         memset(estimator_status, 0, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
 436     memcpy(estimator_status, _MAV_PAYLOAD(msg), len);
 437 #endif
 438 }