lib/main/MAVLink/common/mavlink_msg_vicon_position_estimate.h

   1 #pragma once
   2 // MESSAGE VICON_POSITION_ESTIMATE PACKING
   3
   4 #define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 104
   5
   6
   7 typedef struct __mavlink_vicon_position_estimate_t {
   8  uint64_t usec; /*< [us] Timestamp (UNIX time or time since system boot)*/
   9  float x; /*< [m] Global X position*/
  10  float y; /*< [m] Global Y position*/
  11  float z; /*< [m] Global Z position*/
  12  float roll; /*< [rad] Roll angle*/
  13  float pitch; /*< [rad] Pitch angle*/
  14  float yaw; /*< [rad] Yaw angle*/
  15  float covariance[21]; /*<  Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.*/
  16 } mavlink_vicon_position_estimate_t;
  17
  18 #define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 116
  19 #define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN 32
  20 #define MAVLINK_MSG_ID_104_LEN 116
  21 #define MAVLINK_MSG_ID_104_MIN_LEN 32
  22
  23 #define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC 56
  24 #define MAVLINK_MSG_ID_104_CRC 56
  25
  26 #define MAVLINK_MSG_VICON_POSITION_ESTIMATE_FIELD_COVARIANCE_LEN 21
  27
  28 #if MAVLINK_COMMAND_24BIT
  29 #define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE { \
  30     104, \
  31     "VICON_POSITION_ESTIMATE", \
  32     8, \
  33     {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \
  34          { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \
  35          { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \
  36          { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vicon_position_estimate_t, z) }, \
  37          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \
  38          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \
  39          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \
  40          { "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_vicon_position_estimate_t, covariance) }, \
  41          } \
  42 }
  43 #else
  44 #define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE { \
  45     "VICON_POSITION_ESTIMATE", \
  46     8, \
  47     {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \
  48          { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \
  49          { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \
  50          { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vicon_position_estimate_t, z) }, \
  51          { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \
  52          { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \
  53          { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \
  54          { "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_vicon_position_estimate_t, covariance) }, \
  55          } \
  56 }
  57 #endif
  58
  59 /**
  60  * @brief Pack a vicon_position_estimate 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 usec [us] Timestamp (UNIX time or time since system boot)
  66  * @param x [m] Global X position
  67  * @param y [m] Global Y position
  68  * @param z [m] Global Z position
  69  * @param roll [rad] Roll angle
  70  * @param pitch [rad] Pitch angle
  71  * @param yaw [rad] Yaw angle
  72  * @param covariance  Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
  73  * @return length of the message in bytes (excluding serial stream start sign)
  74  */
  75 static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  76                                uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
  77 {
  78 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  79     char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
  80     _mav_put_uint64_t(buf, 0, usec);
  81     _mav_put_float(buf, 8, x);
  82     _mav_put_float(buf, 12, y);
  83     _mav_put_float(buf, 16, z);
  84     _mav_put_float(buf, 20, roll);
  85     _mav_put_float(buf, 24, pitch);
  86     _mav_put_float(buf, 28, yaw);
  87     _mav_put_float_array(buf, 32, covariance, 21);
  88         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
  89 #else
  90     mavlink_vicon_position_estimate_t packet;
  91     packet.usec = usec;
  92     packet.x = x;
  93     packet.y = y;
  94     packet.z = z;
  95     packet.roll = roll;
  96     packet.pitch = pitch;
  97     packet.yaw = yaw;
  98     mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
  99         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
 100 #endif
 101
 102     msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
 103     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
 104 }
 105
 106 /**
 107  * @brief Pack a vicon_position_estimate message on a channel
 108  * @param system_id ID of this system
 109  * @param component_id ID of this component (e.g. 200 for IMU)
 110  * @param chan The MAVLink channel this message will be sent over
 111  * @param msg The MAVLink message to compress the data into
 112  * @param usec [us] Timestamp (UNIX time or time since system boot)
 113  * @param x [m] Global X position
 114  * @param y [m] Global Y position
 115  * @param z [m] Global Z position
 116  * @param roll [rad] Roll angle
 117  * @param pitch [rad] Pitch angle
 118  * @param yaw [rad] Yaw angle
 119  * @param covariance  Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
 120  * @return length of the message in bytes (excluding serial stream start sign)
 121  */
 122 static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 123                                mavlink_message_t* msg,
 124                                    uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw,const float *covariance)
 125 {
 126 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 127     char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
 128     _mav_put_uint64_t(buf, 0, usec);
 129     _mav_put_float(buf, 8, x);
 130     _mav_put_float(buf, 12, y);
 131     _mav_put_float(buf, 16, z);
 132     _mav_put_float(buf, 20, roll);
 133     _mav_put_float(buf, 24, pitch);
 134     _mav_put_float(buf, 28, yaw);
 135     _mav_put_float_array(buf, 32, covariance, 21);
 136         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
 137 #else
 138     mavlink_vicon_position_estimate_t packet;
 139     packet.usec = usec;
 140     packet.x = x;
 141     packet.y = y;
 142     packet.z = z;
 143     packet.roll = roll;
 144     packet.pitch = pitch;
 145     packet.yaw = yaw;
 146     mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
 147         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
 148 #endif
 149
 150     msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
 151     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
 152 }
 153
 154 /**
 155  * @brief Encode a vicon_position_estimate struct
 156  *
 157  * @param system_id ID of this system
 158  * @param component_id ID of this component (e.g. 200 for IMU)
 159  * @param msg The MAVLink message to compress the data into
 160  * @param vicon_position_estimate C-struct to read the message contents from
 161  */
 162 static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
 163 {
 164     return mavlink_msg_vicon_position_estimate_pack(system_id, component_id, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw, vicon_position_estimate->covariance);
 165 }
 166
 167 /**
 168  * @brief Encode a vicon_position_estimate struct on a channel
 169  *
 170  * @param system_id ID of this system
 171  * @param component_id ID of this component (e.g. 200 for IMU)
 172  * @param chan The MAVLink channel this message will be sent over
 173  * @param msg The MAVLink message to compress the data into
 174  * @param vicon_position_estimate C-struct to read the message contents from
 175  */
 176 static inline uint16_t mavlink_msg_vicon_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
 177 {
 178     return mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, chan, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw, vicon_position_estimate->covariance);
 179 }
 180
 181 /**
 182  * @brief Send a vicon_position_estimate message
 183  * @param chan MAVLink channel to send the message
 184  *
 185  * @param usec [us] Timestamp (UNIX time or time since system boot)
 186  * @param x [m] Global X position
 187  * @param y [m] Global Y position
 188  * @param z [m] Global Z position
 189  * @param roll [rad] Roll angle
 190  * @param pitch [rad] Pitch angle
 191  * @param yaw [rad] Yaw angle
 192  * @param covariance  Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
 193  */
 194 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 195
 196 static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
 197 {
 198 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 199     char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
 200     _mav_put_uint64_t(buf, 0, usec);
 201     _mav_put_float(buf, 8, x);
 202     _mav_put_float(buf, 12, y);
 203     _mav_put_float(buf, 16, z);
 204     _mav_put_float(buf, 20, roll);
 205     _mav_put_float(buf, 24, pitch);
 206     _mav_put_float(buf, 28, yaw);
 207     _mav_put_float_array(buf, 32, covariance, 21);
 208     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
 209 #else
 210     mavlink_vicon_position_estimate_t packet;
 211     packet.usec = usec;
 212     packet.x = x;
 213     packet.y = y;
 214     packet.z = z;
 215     packet.roll = roll;
 216     packet.pitch = pitch;
 217     packet.yaw = yaw;
 218     mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
 220 #endif
 221 }
 222
 223 /**
 224  * @brief Send a vicon_position_estimate message
 225  * @param chan MAVLink channel to send the message
 226  * @param struct The MAVLink struct to serialize
 227  */
 228 static inline void mavlink_msg_vicon_position_estimate_send_struct(mavlink_channel_t chan, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
 229 {
 230 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 231     mavlink_msg_vicon_position_estimate_send(chan, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw, vicon_position_estimate->covariance);
 232 #else
 233     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)vicon_position_estimate, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
 234 #endif
 235 }
 236
 237 #if MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 238 /*
 239   This varient of _send() can be used to save stack space by re-using
 240   memory from the receive buffer.  The caller provides a
 241   mavlink_message_t which is the size of a full mavlink message. This
 242   is usually the receive buffer for the channel, and allows a reply to an
 243   incoming message with minimum stack space usage.
 244  */
 245 static inline void mavlink_msg_vicon_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
 246 {
 247 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 248     char *buf = (char *)msgbuf;
 249     _mav_put_uint64_t(buf, 0, usec);
 250     _mav_put_float(buf, 8, x);
 251     _mav_put_float(buf, 12, y);
 252     _mav_put_float(buf, 16, z);
 253     _mav_put_float(buf, 20, roll);
 254     _mav_put_float(buf, 24, pitch);
 255     _mav_put_float(buf, 28, yaw);
 256     _mav_put_float_array(buf, 32, covariance, 21);
 257     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
 258 #else
 259     mavlink_vicon_position_estimate_t *packet = (mavlink_vicon_position_estimate_t *)msgbuf;
 260     packet->usec = usec;
 261     packet->x = x;
 262     packet->y = y;
 263     packet->z = z;
 264     packet->roll = roll;
 265     packet->pitch = pitch;
 266     packet->yaw = yaw;
 267     mav_array_memcpy(packet->covariance, covariance, sizeof(float)*21);
 268     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
 269 #endif
 270 }
 271 #endif
 272
 273 #endif
 274
 275 // MESSAGE VICON_POSITION_ESTIMATE UNPACKING
 276
 277
 278 /**
 279  * @brief Get field usec from vicon_position_estimate message
 280  *
 281  * @return [us] Timestamp (UNIX time or time since system boot)
 282  */
 283 static inline uint64_t mavlink_msg_vicon_position_estimate_get_usec(const mavlink_message_t* msg)
 284 {
 285     return _MAV_RETURN_uint64_t(msg,  0);
 286 }
 287
 288 /**
 289  * @brief Get field x from vicon_position_estimate message
 290  *
 291  * @return [m] Global X position
 292  */
 293 static inline float mavlink_msg_vicon_position_estimate_get_x(const mavlink_message_t* msg)
 294 {
 295     return _MAV_RETURN_float(msg,  8);
 296 }
 297
 298 /**
 299  * @brief Get field y from vicon_position_estimate message
 300  *
 301  * @return [m] Global Y position
 302  */
 303 static inline float mavlink_msg_vicon_position_estimate_get_y(const mavlink_message_t* msg)
 304 {
 305     return _MAV_RETURN_float(msg,  12);
 306 }
 307
 308 /**
 309  * @brief Get field z from vicon_position_estimate message
 310  *
 311  * @return [m] Global Z position
 312  */
 313 static inline float mavlink_msg_vicon_position_estimate_get_z(const mavlink_message_t* msg)
 314 {
 315     return _MAV_RETURN_float(msg,  16);
 316 }
 317
 318 /**
 319  * @brief Get field roll from vicon_position_estimate message
 320  *
 321  * @return [rad] Roll angle
 322  */
 323 static inline float mavlink_msg_vicon_position_estimate_get_roll(const mavlink_message_t* msg)
 324 {
 325     return _MAV_RETURN_float(msg,  20);
 326 }
 327
 328 /**
 329  * @brief Get field pitch from vicon_position_estimate message
 330  *
 331  * @return [rad] Pitch angle
 332  */
 333 static inline float mavlink_msg_vicon_position_estimate_get_pitch(const mavlink_message_t* msg)
 334 {
 335     return _MAV_RETURN_float(msg,  24);
 336 }
 337
 338 /**
 339  * @brief Get field yaw from vicon_position_estimate message
 340  *
 341  * @return [rad] Yaw angle
 342  */
 343 static inline float mavlink_msg_vicon_position_estimate_get_yaw(const mavlink_message_t* msg)
 344 {
 345     return _MAV_RETURN_float(msg,  28);
 346 }
 347
 348 /**
 349  * @brief Get field covariance from vicon_position_estimate message
 350  *
 351  * @return  Row-major representation of 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
 352  */
 353 static inline uint16_t mavlink_msg_vicon_position_estimate_get_covariance(const mavlink_message_t* msg, float *covariance)
 354 {
 355     return _MAV_RETURN_float_array(msg, covariance, 21,  32);
 356 }
 357
 358 /**
 359  * @brief Decode a vicon_position_estimate message into a struct
 360  *
 361  * @param msg The message to decode
 362  * @param vicon_position_estimate C-struct to decode the message contents into
 363  */
 364 static inline void mavlink_msg_vicon_position_estimate_decode(const mavlink_message_t* msg, mavlink_vicon_position_estimate_t* vicon_position_estimate)
 365 {
 366 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 367     vicon_position_estimate->usec = mavlink_msg_vicon_position_estimate_get_usec(msg);
 368     vicon_position_estimate->x = mavlink_msg_vicon_position_estimate_get_x(msg);
 369     vicon_position_estimate->y = mavlink_msg_vicon_position_estimate_get_y(msg);
 370     vicon_position_estimate->z = mavlink_msg_vicon_position_estimate_get_z(msg);
 371     vicon_position_estimate->roll = mavlink_msg_vicon_position_estimate_get_roll(msg);
 372     vicon_position_estimate->pitch = mavlink_msg_vicon_position_estimate_get_pitch(msg);
 373     vicon_position_estimate->yaw = mavlink_msg_vicon_position_estimate_get_yaw(msg);
 374     mavlink_msg_vicon_position_estimate_get_covariance(msg, vicon_position_estimate->covariance);
 375 #else
 376         uint8_t len = msg->len < MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN;
 377         memset(vicon_position_estimate, 0, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
 378     memcpy(vicon_position_estimate, _MAV_PAYLOAD(msg), len);
 379 #endif
 380 }