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
   7 typedef struct __mavlink_global_position_int_cov_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  int32_t lat; /*< [degE7] Latitude*/
  10  int32_t lon; /*< [degE7] Longitude*/
  11  int32_t alt; /*< [mm] Altitude in meters above MSL*/
  12  int32_t relative_alt; /*< [mm] Altitude above ground*/
  13  float vx; /*< [m/s] Ground X Speed (Latitude)*/
  14  float vy; /*< [m/s] Ground Y Speed (Longitude)*/
  15  float vz; /*< [m/s] Ground Z Speed (Altitude)*/
  16  float covariance[36]; /*<  Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.*/
  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          { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 180, offsetof(mavlink_global_position_int_cov_t, estimator_type) }, \
  37          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_cov_t, lat) }, \
  38          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_cov_t, lon) }, \
  39          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_cov_t, alt) }, \
  40          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_global_position_int_cov_t, relative_alt) }, \
  41          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_int_cov_t, vx) }, \
  42          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_int_cov_t, vy) }, \
  43          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_global_position_int_cov_t, vz) }, \
  44          { "covariance", NULL, MAVLINK_TYPE_FLOAT, 36, 36, offsetof(mavlink_global_position_int_cov_t, covariance) }, \
  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          { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 180, offsetof(mavlink_global_position_int_cov_t, estimator_type) }, \
  53          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_cov_t, lat) }, \
  54          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_cov_t, lon) }, \
  55          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_cov_t, alt) }, \
  56          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_global_position_int_cov_t, relative_alt) }, \
  57          { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_position_int_cov_t, vx) }, \
  58          { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_position_int_cov_t, vy) }, \
  59          { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_global_position_int_cov_t, vz) }, \
  60          { "covariance", NULL, MAVLINK_TYPE_FLOAT, 36, 36, offsetof(mavlink_global_position_int_cov_t, covariance) }, \
  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 [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 estimator_type  Class id of the estimator this estimate originated from.
  73  * @param lat [degE7] Latitude
  74  * @param lon [degE7] Longitude
  75  * @param alt [mm] Altitude in meters above MSL
  76  * @param relative_alt [mm] Altitude above ground
  77  * @param vx [m/s] Ground X Speed (Latitude)
  78  * @param vy [m/s] Ground Y Speed (Longitude)
  79  * @param vz [m/s] Ground Z Speed (Altitude)
  80  * @param covariance  Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
  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 [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.
 125  * @param estimator_type  Class id of the estimator this estimate originated from.
 126  * @param lat [degE7] Latitude
 127  * @param lon [degE7] Longitude
 128  * @param alt [mm] Altitude in meters above MSL
 129  * @param relative_alt [mm] Altitude above ground
 130  * @param vx [m/s] Ground X Speed (Latitude)
 131  * @param vy [m/s] Ground Y Speed (Longitude)
 132  * @param vz [m/s] Ground Z Speed (Altitude)
 133  * @param covariance  Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
 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 [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.
 204  * @param estimator_type  Class id of the estimator this estimate originated from.
 205  * @param lat [degE7] Latitude
 206  * @param lon [degE7] Longitude
 207  * @param alt [mm] Altitude in meters above MSL
 208  * @param relative_alt [mm] Altitude above ground
 209  * @param vx [m/s] Ground X Speed (Latitude)
 210  * @param vy [m/s] Ground Y Speed (Longitude)
 211  * @param vz [m/s] Ground Z Speed (Altitude)
 212  * @param covariance  Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
 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 [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.
 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 [degE7] Latitude
 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 [degE7] Longitude
 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 [mm] Altitude in meters 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 [mm] Altitude above ground
 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 [m/s] Ground X Speed (Latitude)
 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 [m/s] Ground Y Speed (Longitude)
 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 [m/s] Ground Z Speed (Altitude)
 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  Row-major representation of a 6x6 position and velocity 6x6 cross-covariance matrix (states: lat, lon, alt, vx, vy, vz; first six entries are the first ROW, next six entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
 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 }