lib/main/MAVLink/common/mavlink_msg_camera_image_captured.h

   1 #pragma once
   2 // MESSAGE CAMERA_IMAGE_CAPTURED PACKING
   3
   4 #define MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED 263
   5
   6
   7 typedef struct __mavlink_camera_image_captured_t {
   8  uint64_t time_utc; /*< [us] Timestamp (time since UNIX epoch) in UTC. 0 for unknown.*/
   9  uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
  10  int32_t lat; /*< [degE7] Latitude where image was taken*/
  11  int32_t lon; /*< [degE7] Longitude where capture was taken*/
  12  int32_t alt; /*< [mm] Altitude (MSL) where image was taken*/
  13  int32_t relative_alt; /*< [mm] Altitude above ground*/
  14  float q[4]; /*<  Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
  15  int32_t image_index; /*<  Zero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)*/
  16  uint8_t camera_id; /*<  Deprecated/unused. Component IDs are used to differentiate multiple cameras.*/
  17  int8_t capture_result; /*<  Boolean indicating success (1) or failure (0) while capturing this image.*/
  18  char file_url[205]; /*<  URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.*/
  19 } mavlink_camera_image_captured_t;
  20
  21 #define MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN 255
  22 #define MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_MIN_LEN 255
  23 #define MAVLINK_MSG_ID_263_LEN 255
  24 #define MAVLINK_MSG_ID_263_MIN_LEN 255
  25
  26 #define MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_CRC 133
  27 #define MAVLINK_MSG_ID_263_CRC 133
  28
  29 #define MAVLINK_MSG_CAMERA_IMAGE_CAPTURED_FIELD_Q_LEN 4
  30 #define MAVLINK_MSG_CAMERA_IMAGE_CAPTURED_FIELD_FILE_URL_LEN 205
  31
  32 #if MAVLINK_COMMAND_24BIT
  33 #define MAVLINK_MESSAGE_INFO_CAMERA_IMAGE_CAPTURED { \
  34     263, \
  35     "CAMERA_IMAGE_CAPTURED", \
  36     11, \
  37     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_camera_image_captured_t, time_boot_ms) }, \
  38          { "time_utc", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_image_captured_t, time_utc) }, \
  39          { "camera_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 48, offsetof(mavlink_camera_image_captured_t, camera_id) }, \
  40          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_camera_image_captured_t, lat) }, \
  41          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_camera_image_captured_t, lon) }, \
  42          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_camera_image_captured_t, alt) }, \
  43          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_camera_image_captured_t, relative_alt) }, \
  44          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 28, offsetof(mavlink_camera_image_captured_t, q) }, \
  45          { "image_index", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_camera_image_captured_t, image_index) }, \
  46          { "capture_result", NULL, MAVLINK_TYPE_INT8_T, 0, 49, offsetof(mavlink_camera_image_captured_t, capture_result) }, \
  47          { "file_url", NULL, MAVLINK_TYPE_CHAR, 205, 50, offsetof(mavlink_camera_image_captured_t, file_url) }, \
  48          } \
  49 }
  50 #else
  51 #define MAVLINK_MESSAGE_INFO_CAMERA_IMAGE_CAPTURED { \
  52     "CAMERA_IMAGE_CAPTURED", \
  53     11, \
  54     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_camera_image_captured_t, time_boot_ms) }, \
  55          { "time_utc", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_image_captured_t, time_utc) }, \
  56          { "camera_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 48, offsetof(mavlink_camera_image_captured_t, camera_id) }, \
  57          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_camera_image_captured_t, lat) }, \
  58          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_camera_image_captured_t, lon) }, \
  59          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_camera_image_captured_t, alt) }, \
  60          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_camera_image_captured_t, relative_alt) }, \
  61          { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 28, offsetof(mavlink_camera_image_captured_t, q) }, \
  62          { "image_index", NULL, MAVLINK_TYPE_INT32_T, 0, 44, offsetof(mavlink_camera_image_captured_t, image_index) }, \
  63          { "capture_result", NULL, MAVLINK_TYPE_INT8_T, 0, 49, offsetof(mavlink_camera_image_captured_t, capture_result) }, \
  64          { "file_url", NULL, MAVLINK_TYPE_CHAR, 205, 50, offsetof(mavlink_camera_image_captured_t, file_url) }, \
  65          } \
  66 }
  67 #endif
  68
  69 /**
  70  * @brief Pack a camera_image_captured message
  71  * @param system_id ID of this system
  72  * @param component_id ID of this component (e.g. 200 for IMU)
  73  * @param msg The MAVLink message to compress the data into
  74  *
  75  * @param time_boot_ms [ms] Timestamp (time since system boot).
  76  * @param time_utc [us] Timestamp (time since UNIX epoch) in UTC. 0 for unknown.
  77  * @param camera_id  Deprecated/unused. Component IDs are used to differentiate multiple cameras.
  78  * @param lat [degE7] Latitude where image was taken
  79  * @param lon [degE7] Longitude where capture was taken
  80  * @param alt [mm] Altitude (MSL) where image was taken
  81  * @param relative_alt [mm] Altitude above ground
  82  * @param q  Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
  83  * @param image_index  Zero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
  84  * @param capture_result  Boolean indicating success (1) or failure (0) while capturing this image.
  85  * @param file_url  URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.
  86  * @return length of the message in bytes (excluding serial stream start sign)
  87  */
  88 static inline uint16_t mavlink_msg_camera_image_captured_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  89                                uint32_t time_boot_ms, uint64_t time_utc, uint8_t camera_id, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, const float *q, int32_t image_index, int8_t capture_result, const char *file_url)
  90 {
  91 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  92     char buf[MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN];
  93     _mav_put_uint64_t(buf, 0, time_utc);
  94     _mav_put_uint32_t(buf, 8, time_boot_ms);
  95     _mav_put_int32_t(buf, 12, lat);
  96     _mav_put_int32_t(buf, 16, lon);
  97     _mav_put_int32_t(buf, 20, alt);
  98     _mav_put_int32_t(buf, 24, relative_alt);
  99     _mav_put_int32_t(buf, 44, image_index);
 100     _mav_put_uint8_t(buf, 48, camera_id);
 101     _mav_put_int8_t(buf, 49, capture_result);
 102     _mav_put_float_array(buf, 28, q, 4);
 103     _mav_put_char_array(buf, 50, file_url, 205);
 104         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN);
 105 #else
 106     mavlink_camera_image_captured_t packet;
 107     packet.time_utc = time_utc;
 108     packet.time_boot_ms = time_boot_ms;
 109     packet.lat = lat;
 110     packet.lon = lon;
 111     packet.alt = alt;
 112     packet.relative_alt = relative_alt;
 113     packet.image_index = image_index;
 114     packet.camera_id = camera_id;
 115     packet.capture_result = capture_result;
 116     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 117     mav_array_memcpy(packet.file_url, file_url, sizeof(char)*205);
 118         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN);
 119 #endif
 120
 121     msg->msgid = MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED;
 122     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_MIN_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_CRC);
 123 }
 124
 125 /**
 126  * @brief Pack a camera_image_captured message on a channel
 127  * @param system_id ID of this system
 128  * @param component_id ID of this component (e.g. 200 for IMU)
 129  * @param chan The MAVLink channel this message will be sent over
 130  * @param msg The MAVLink message to compress the data into
 131  * @param time_boot_ms [ms] Timestamp (time since system boot).
 132  * @param time_utc [us] Timestamp (time since UNIX epoch) in UTC. 0 for unknown.
 133  * @param camera_id  Deprecated/unused. Component IDs are used to differentiate multiple cameras.
 134  * @param lat [degE7] Latitude where image was taken
 135  * @param lon [degE7] Longitude where capture was taken
 136  * @param alt [mm] Altitude (MSL) where image was taken
 137  * @param relative_alt [mm] Altitude above ground
 138  * @param q  Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 139  * @param image_index  Zero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
 140  * @param capture_result  Boolean indicating success (1) or failure (0) while capturing this image.
 141  * @param file_url  URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.
 142  * @return length of the message in bytes (excluding serial stream start sign)
 143  */
 144 static inline uint16_t mavlink_msg_camera_image_captured_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 145                                mavlink_message_t* msg,
 146                                    uint32_t time_boot_ms,uint64_t time_utc,uint8_t camera_id,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,const float *q,int32_t image_index,int8_t capture_result,const char *file_url)
 147 {
 148 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 149     char buf[MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN];
 150     _mav_put_uint64_t(buf, 0, time_utc);
 151     _mav_put_uint32_t(buf, 8, time_boot_ms);
 152     _mav_put_int32_t(buf, 12, lat);
 153     _mav_put_int32_t(buf, 16, lon);
 154     _mav_put_int32_t(buf, 20, alt);
 155     _mav_put_int32_t(buf, 24, relative_alt);
 156     _mav_put_int32_t(buf, 44, image_index);
 157     _mav_put_uint8_t(buf, 48, camera_id);
 158     _mav_put_int8_t(buf, 49, capture_result);
 159     _mav_put_float_array(buf, 28, q, 4);
 160     _mav_put_char_array(buf, 50, file_url, 205);
 161         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN);
 162 #else
 163     mavlink_camera_image_captured_t packet;
 164     packet.time_utc = time_utc;
 165     packet.time_boot_ms = time_boot_ms;
 166     packet.lat = lat;
 167     packet.lon = lon;
 168     packet.alt = alt;
 169     packet.relative_alt = relative_alt;
 170     packet.image_index = image_index;
 171     packet.camera_id = camera_id;
 172     packet.capture_result = capture_result;
 173     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 174     mav_array_memcpy(packet.file_url, file_url, sizeof(char)*205);
 175         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN);
 176 #endif
 177
 178     msg->msgid = MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED;
 179     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_MIN_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_CRC);
 180 }
 181
 182 /**
 183  * @brief Encode a camera_image_captured struct
 184  *
 185  * @param system_id ID of this system
 186  * @param component_id ID of this component (e.g. 200 for IMU)
 187  * @param msg The MAVLink message to compress the data into
 188  * @param camera_image_captured C-struct to read the message contents from
 189  */
 190 static inline uint16_t mavlink_msg_camera_image_captured_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_image_captured_t* camera_image_captured)
 191 {
 192     return mavlink_msg_camera_image_captured_pack(system_id, component_id, msg, camera_image_captured->time_boot_ms, camera_image_captured->time_utc, camera_image_captured->camera_id, camera_image_captured->lat, camera_image_captured->lon, camera_image_captured->alt, camera_image_captured->relative_alt, camera_image_captured->q, camera_image_captured->image_index, camera_image_captured->capture_result, camera_image_captured->file_url);
 193 }
 194
 195 /**
 196  * @brief Encode a camera_image_captured struct on a channel
 197  *
 198  * @param system_id ID of this system
 199  * @param component_id ID of this component (e.g. 200 for IMU)
 200  * @param chan The MAVLink channel this message will be sent over
 201  * @param msg The MAVLink message to compress the data into
 202  * @param camera_image_captured C-struct to read the message contents from
 203  */
 204 static inline uint16_t mavlink_msg_camera_image_captured_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_image_captured_t* camera_image_captured)
 205 {
 206     return mavlink_msg_camera_image_captured_pack_chan(system_id, component_id, chan, msg, camera_image_captured->time_boot_ms, camera_image_captured->time_utc, camera_image_captured->camera_id, camera_image_captured->lat, camera_image_captured->lon, camera_image_captured->alt, camera_image_captured->relative_alt, camera_image_captured->q, camera_image_captured->image_index, camera_image_captured->capture_result, camera_image_captured->file_url);
 207 }
 208
 209 /**
 210  * @brief Send a camera_image_captured message
 211  * @param chan MAVLink channel to send the message
 212  *
 213  * @param time_boot_ms [ms] Timestamp (time since system boot).
 214  * @param time_utc [us] Timestamp (time since UNIX epoch) in UTC. 0 for unknown.
 215  * @param camera_id  Deprecated/unused. Component IDs are used to differentiate multiple cameras.
 216  * @param lat [degE7] Latitude where image was taken
 217  * @param lon [degE7] Longitude where capture was taken
 218  * @param alt [mm] Altitude (MSL) where image was taken
 219  * @param relative_alt [mm] Altitude above ground
 220  * @param q  Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 221  * @param image_index  Zero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
 222  * @param capture_result  Boolean indicating success (1) or failure (0) while capturing this image.
 223  * @param file_url  URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.
 224  */
 225 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 226
 227 static inline void mavlink_msg_camera_image_captured_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint64_t time_utc, uint8_t camera_id, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, const float *q, int32_t image_index, int8_t capture_result, const char *file_url)
 228 {
 229 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 230     char buf[MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN];
 231     _mav_put_uint64_t(buf, 0, time_utc);
 232     _mav_put_uint32_t(buf, 8, time_boot_ms);
 233     _mav_put_int32_t(buf, 12, lat);
 234     _mav_put_int32_t(buf, 16, lon);
 235     _mav_put_int32_t(buf, 20, alt);
 236     _mav_put_int32_t(buf, 24, relative_alt);
 237     _mav_put_int32_t(buf, 44, image_index);
 238     _mav_put_uint8_t(buf, 48, camera_id);
 239     _mav_put_int8_t(buf, 49, capture_result);
 240     _mav_put_float_array(buf, 28, q, 4);
 241     _mav_put_char_array(buf, 50, file_url, 205);
 242     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED, buf, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_MIN_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_CRC);
 243 #else
 244     mavlink_camera_image_captured_t packet;
 245     packet.time_utc = time_utc;
 246     packet.time_boot_ms = time_boot_ms;
 247     packet.lat = lat;
 248     packet.lon = lon;
 249     packet.alt = alt;
 250     packet.relative_alt = relative_alt;
 251     packet.image_index = image_index;
 252     packet.camera_id = camera_id;
 253     packet.capture_result = capture_result;
 254     mav_array_memcpy(packet.q, q, sizeof(float)*4);
 255     mav_array_memcpy(packet.file_url, file_url, sizeof(char)*205);
 256     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_MIN_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_CRC);
 257 #endif
 258 }
 259
 260 /**
 261  * @brief Send a camera_image_captured message
 262  * @param chan MAVLink channel to send the message
 263  * @param struct The MAVLink struct to serialize
 264  */
 265 static inline void mavlink_msg_camera_image_captured_send_struct(mavlink_channel_t chan, const mavlink_camera_image_captured_t* camera_image_captured)
 266 {
 267 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 268     mavlink_msg_camera_image_captured_send(chan, camera_image_captured->time_boot_ms, camera_image_captured->time_utc, camera_image_captured->camera_id, camera_image_captured->lat, camera_image_captured->lon, camera_image_captured->alt, camera_image_captured->relative_alt, camera_image_captured->q, camera_image_captured->image_index, camera_image_captured->capture_result, camera_image_captured->file_url);
 269 #else
 270     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED, (const char *)camera_image_captured, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_MIN_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_CRC);
 271 #endif
 272 }
 273
 274 #if MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 275 /*
 276   This varient of _send() can be used to save stack space by re-using
 277   memory from the receive buffer.  The caller provides a
 278   mavlink_message_t which is the size of a full mavlink message. This
 279   is usually the receive buffer for the channel, and allows a reply to an
 280   incoming message with minimum stack space usage.
 281  */
 282 static inline void mavlink_msg_camera_image_captured_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, uint64_t time_utc, uint8_t camera_id, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, const float *q, int32_t image_index, int8_t capture_result, const char *file_url)
 283 {
 284 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 285     char *buf = (char *)msgbuf;
 286     _mav_put_uint64_t(buf, 0, time_utc);
 287     _mav_put_uint32_t(buf, 8, time_boot_ms);
 288     _mav_put_int32_t(buf, 12, lat);
 289     _mav_put_int32_t(buf, 16, lon);
 290     _mav_put_int32_t(buf, 20, alt);
 291     _mav_put_int32_t(buf, 24, relative_alt);
 292     _mav_put_int32_t(buf, 44, image_index);
 293     _mav_put_uint8_t(buf, 48, camera_id);
 294     _mav_put_int8_t(buf, 49, capture_result);
 295     _mav_put_float_array(buf, 28, q, 4);
 296     _mav_put_char_array(buf, 50, file_url, 205);
 297     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED, buf, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_MIN_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_CRC);
 298 #else
 299     mavlink_camera_image_captured_t *packet = (mavlink_camera_image_captured_t *)msgbuf;
 300     packet->time_utc = time_utc;
 301     packet->time_boot_ms = time_boot_ms;
 302     packet->lat = lat;
 303     packet->lon = lon;
 304     packet->alt = alt;
 305     packet->relative_alt = relative_alt;
 306     packet->image_index = image_index;
 307     packet->camera_id = camera_id;
 308     packet->capture_result = capture_result;
 309     mav_array_memcpy(packet->q, q, sizeof(float)*4);
 310     mav_array_memcpy(packet->file_url, file_url, sizeof(char)*205);
 311     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED, (const char *)packet, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_MIN_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_CRC);
 312 #endif
 313 }
 314 #endif
 315
 316 #endif
 317
 318 // MESSAGE CAMERA_IMAGE_CAPTURED UNPACKING
 319
 320
 321 /**
 322  * @brief Get field time_boot_ms from camera_image_captured message
 323  *
 324  * @return [ms] Timestamp (time since system boot).
 325  */
 326 static inline uint32_t mavlink_msg_camera_image_captured_get_time_boot_ms(const mavlink_message_t* msg)
 327 {
 328     return _MAV_RETURN_uint32_t(msg,  8);
 329 }
 330
 331 /**
 332  * @brief Get field time_utc from camera_image_captured message
 333  *
 334  * @return [us] Timestamp (time since UNIX epoch) in UTC. 0 for unknown.
 335  */
 336 static inline uint64_t mavlink_msg_camera_image_captured_get_time_utc(const mavlink_message_t* msg)
 337 {
 338     return _MAV_RETURN_uint64_t(msg,  0);
 339 }
 340
 341 /**
 342  * @brief Get field camera_id from camera_image_captured message
 343  *
 344  * @return  Deprecated/unused. Component IDs are used to differentiate multiple cameras.
 345  */
 346 static inline uint8_t mavlink_msg_camera_image_captured_get_camera_id(const mavlink_message_t* msg)
 347 {
 348     return _MAV_RETURN_uint8_t(msg,  48);
 349 }
 350
 351 /**
 352  * @brief Get field lat from camera_image_captured message
 353  *
 354  * @return [degE7] Latitude where image was taken
 355  */
 356 static inline int32_t mavlink_msg_camera_image_captured_get_lat(const mavlink_message_t* msg)
 357 {
 358     return _MAV_RETURN_int32_t(msg,  12);
 359 }
 360
 361 /**
 362  * @brief Get field lon from camera_image_captured message
 363  *
 364  * @return [degE7] Longitude where capture was taken
 365  */
 366 static inline int32_t mavlink_msg_camera_image_captured_get_lon(const mavlink_message_t* msg)
 367 {
 368     return _MAV_RETURN_int32_t(msg,  16);
 369 }
 370
 371 /**
 372  * @brief Get field alt from camera_image_captured message
 373  *
 374  * @return [mm] Altitude (MSL) where image was taken
 375  */
 376 static inline int32_t mavlink_msg_camera_image_captured_get_alt(const mavlink_message_t* msg)
 377 {
 378     return _MAV_RETURN_int32_t(msg,  20);
 379 }
 380
 381 /**
 382  * @brief Get field relative_alt from camera_image_captured message
 383  *
 384  * @return [mm] Altitude above ground
 385  */
 386 static inline int32_t mavlink_msg_camera_image_captured_get_relative_alt(const mavlink_message_t* msg)
 387 {
 388     return _MAV_RETURN_int32_t(msg,  24);
 389 }
 390
 391 /**
 392  * @brief Get field q from camera_image_captured message
 393  *
 394  * @return  Quaternion of camera orientation (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
 395  */
 396 static inline uint16_t mavlink_msg_camera_image_captured_get_q(const mavlink_message_t* msg, float *q)
 397 {
 398     return _MAV_RETURN_float_array(msg, q, 4,  28);
 399 }
 400
 401 /**
 402  * @brief Get field image_index from camera_image_captured message
 403  *
 404  * @return  Zero based index of this image (i.e. a new image will have index CAMERA_CAPTURE_STATUS.image count -1)
 405  */
 406 static inline int32_t mavlink_msg_camera_image_captured_get_image_index(const mavlink_message_t* msg)
 407 {
 408     return _MAV_RETURN_int32_t(msg,  44);
 409 }
 410
 411 /**
 412  * @brief Get field capture_result from camera_image_captured message
 413  *
 414  * @return  Boolean indicating success (1) or failure (0) while capturing this image.
 415  */
 416 static inline int8_t mavlink_msg_camera_image_captured_get_capture_result(const mavlink_message_t* msg)
 417 {
 418     return _MAV_RETURN_int8_t(msg,  49);
 419 }
 420
 421 /**
 422  * @brief Get field file_url from camera_image_captured message
 423  *
 424  * @return  URL of image taken. Either local storage or http://foo.jpg if camera provides an HTTP interface.
 425  */
 426 static inline uint16_t mavlink_msg_camera_image_captured_get_file_url(const mavlink_message_t* msg, char *file_url)
 427 {
 428     return _MAV_RETURN_char_array(msg, file_url, 205,  50);
 429 }
 430
 431 /**
 432  * @brief Decode a camera_image_captured message into a struct
 433  *
 434  * @param msg The message to decode
 435  * @param camera_image_captured C-struct to decode the message contents into
 436  */
 437 static inline void mavlink_msg_camera_image_captured_decode(const mavlink_message_t* msg, mavlink_camera_image_captured_t* camera_image_captured)
 438 {
 439 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 440     camera_image_captured->time_utc = mavlink_msg_camera_image_captured_get_time_utc(msg);
 441     camera_image_captured->time_boot_ms = mavlink_msg_camera_image_captured_get_time_boot_ms(msg);
 442     camera_image_captured->lat = mavlink_msg_camera_image_captured_get_lat(msg);
 443     camera_image_captured->lon = mavlink_msg_camera_image_captured_get_lon(msg);
 444     camera_image_captured->alt = mavlink_msg_camera_image_captured_get_alt(msg);
 445     camera_image_captured->relative_alt = mavlink_msg_camera_image_captured_get_relative_alt(msg);
 446     mavlink_msg_camera_image_captured_get_q(msg, camera_image_captured->q);
 447     camera_image_captured->image_index = mavlink_msg_camera_image_captured_get_image_index(msg);
 448     camera_image_captured->camera_id = mavlink_msg_camera_image_captured_get_camera_id(msg);
 449     camera_image_captured->capture_result = mavlink_msg_camera_image_captured_get_capture_result(msg);
 450     mavlink_msg_camera_image_captured_get_file_url(msg, camera_image_captured->file_url);
 451 #else
 452         uint8_t len = msg->len < MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN? msg->len : MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN;
 453         memset(camera_image_captured, 0, MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED_LEN);
 454     memcpy(camera_image_captured, _MAV_PAYLOAD(msg), len);
 455 #endif
 456 }