flight/libraries/mavlink/v1.0/common/mavlink_msg_local_position_ned.h

   1 // MESSAGE LOCAL_POSITION_NED PACKING
   2
   3 #define MAVLINK_MSG_ID_LOCAL_POSITION_NED 32
   4
   5 typedef struct __mavlink_local_position_ned_t {
   6     uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   7     float    x; ///< X Position
   8     float    y; ///< Y Position
   9     float    z; ///< Z Position
  10     float    vx; ///< X Speed
  11     float    vy; ///< Y Speed
  12     float    vz; ///< Z Speed
  13 } mavlink_local_position_ned_t;
  14
  15 #define MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN 28
  16 #define MAVLINK_MSG_ID_32_LEN                 28
  17
  18
  19 #define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED \
  20     { \
  21         "LOCAL_POSITION_NED", \
  22         7, \
  23         { \
  24             { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
  25             { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
  26             { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
  27             { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
  28             { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
  29             { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
  30             { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
  31         } \
  32     }
  33
  34
  35 /**
  36  * @brief Pack a local_position_ned message
  37  * @param system_id ID of this system
  38  * @param component_id ID of this component (e.g. 200 for IMU)
  39  * @param msg The MAVLink message to compress the data into
  40  *
  41  * @param time_boot_ms Timestamp (milliseconds since system boot)
  42  * @param x X Position
  43  * @param y Y Position
  44  * @param z Z Position
  45  * @param vx X Speed
  46  * @param vy Y Speed
  47  * @param vz Z Speed
  48  * @return length of the message in bytes (excluding serial stream start sign)
  49  */
  50 static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  51                                                            uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
  52 {
  53 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  54     char buf[28];
  55     _mav_put_uint32_t(buf, 0, time_boot_ms);
  56     _mav_put_float(buf, 4, x);
  57     _mav_put_float(buf, 8, y);
  58     _mav_put_float(buf, 12, z);
  59     _mav_put_float(buf, 16, vx);
  60     _mav_put_float(buf, 20, vy);
  61     _mav_put_float(buf, 24, vz);
  62
  63     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
  64 #else
  65     mavlink_local_position_ned_t packet;
  66     packet.time_boot_ms = time_boot_ms;
  67     packet.x  = x;
  68     packet.y  = y;
  69     packet.z  = z;
  70     packet.vx = vx;
  71     packet.vy = vy;
  72     packet.vz = vz;
  73
  74     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
  75 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  76
  77     msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
  78     return mavlink_finalize_message(msg, system_id, component_id, 28, 185);
  79 }
  80
  81 /**
  82  * @brief Pack a local_position_ned message on a channel
  83  * @param system_id ID of this system
  84  * @param component_id ID of this component (e.g. 200 for IMU)
  85  * @param chan The MAVLink channel this message was sent over
  86  * @param msg The MAVLink message to compress the data into
  87  * @param time_boot_ms Timestamp (milliseconds since system boot)
  88  * @param x X Position
  89  * @param y Y Position
  90  * @param z Z Position
  91  * @param vx X Speed
  92  * @param vy Y Speed
  93  * @param vz Z Speed
  94  * @return length of the message in bytes (excluding serial stream start sign)
  95  */
  96 static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  97                                                                 mavlink_message_t *msg,
  98                                                                 uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
  99 {
 100 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 101     char buf[28];
 102     _mav_put_uint32_t(buf, 0, time_boot_ms);
 103     _mav_put_float(buf, 4, x);
 104     _mav_put_float(buf, 8, y);
 105     _mav_put_float(buf, 12, z);
 106     _mav_put_float(buf, 16, vx);
 107     _mav_put_float(buf, 20, vy);
 108     _mav_put_float(buf, 24, vz);
 109
 110     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 28);
 111 #else
 112     mavlink_local_position_ned_t packet;
 113     packet.time_boot_ms = time_boot_ms;
 114     packet.x  = x;
 115     packet.y  = y;
 116     packet.z  = z;
 117     packet.vx = vx;
 118     packet.vy = vy;
 119     packet.vz = vz;
 120
 121     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 28);
 122 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 123
 124     msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
 125     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 28, 185);
 126 }
 127
 128 /**
 129  * @brief Encode a local_position_ned struct into a message
 130  *
 131  * @param system_id ID of this system
 132  * @param component_id ID of this component (e.g. 200 for IMU)
 133  * @param msg The MAVLink message to compress the data into
 134  * @param local_position_ned C-struct to read the message contents from
 135  */
 136 static inline uint16_t mavlink_msg_local_position_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg, const mavlink_local_position_ned_t *local_position_ned)
 137 {
 138     return mavlink_msg_local_position_ned_pack(system_id, component_id, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
 139 }
 140
 141 /**
 142  * @brief Send a local_position_ned message
 143  * @param chan MAVLink channel to send the message
 144  *
 145  * @param time_boot_ms Timestamp (milliseconds since system boot)
 146  * @param x X Position
 147  * @param y Y Position
 148  * @param z Z Position
 149  * @param vx X Speed
 150  * @param vy Y Speed
 151  * @param vz Z Speed
 152  */
 153 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 154
 155 static inline void mavlink_msg_local_position_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
 156 {
 157 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 158     char buf[28];
 159     _mav_put_uint32_t(buf, 0, time_boot_ms);
 160     _mav_put_float(buf, 4, x);
 161     _mav_put_float(buf, 8, y);
 162     _mav_put_float(buf, 12, z);
 163     _mav_put_float(buf, 16, vx);
 164     _mav_put_float(buf, 20, vy);
 165     _mav_put_float(buf, 24, vz);
 166
 167     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, 28, 185);
 168 #else
 169     mavlink_local_position_ned_t packet;
 170     packet.time_boot_ms = time_boot_ms;
 171     packet.x  = x;
 172     packet.y  = y;
 173     packet.z  = z;
 174     packet.vx = vx;
 175     packet.vy = vy;
 176     packet.vz = vz;
 177
 178     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, 28, 185);
 179 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 180 }
 181
 182 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 183
 184 // MESSAGE LOCAL_POSITION_NED UNPACKING
 185
 186
 187 /**
 188  * @brief Get field time_boot_ms from local_position_ned message
 189  *
 190  * @return Timestamp (milliseconds since system boot)
 191  */
 192 static inline uint32_t mavlink_msg_local_position_ned_get_time_boot_ms(const mavlink_message_t *msg)
 193 {
 194     return _MAV_RETURN_uint32_t(msg, 0);
 195 }
 196
 197 /**
 198  * @brief Get field x from local_position_ned message
 199  *
 200  * @return X Position
 201  */
 202 static inline float mavlink_msg_local_position_ned_get_x(const mavlink_message_t *msg)
 203 {
 204     return _MAV_RETURN_float(msg, 4);
 205 }
 206
 207 /**
 208  * @brief Get field y from local_position_ned message
 209  *
 210  * @return Y Position
 211  */
 212 static inline float mavlink_msg_local_position_ned_get_y(const mavlink_message_t *msg)
 213 {
 214     return _MAV_RETURN_float(msg, 8);
 215 }
 216
 217 /**
 218  * @brief Get field z from local_position_ned message
 219  *
 220  * @return Z Position
 221  */
 222 static inline float mavlink_msg_local_position_ned_get_z(const mavlink_message_t *msg)
 223 {
 224     return _MAV_RETURN_float(msg, 12);
 225 }
 226
 227 /**
 228  * @brief Get field vx from local_position_ned message
 229  *
 230  * @return X Speed
 231  */
 232 static inline float mavlink_msg_local_position_ned_get_vx(const mavlink_message_t *msg)
 233 {
 234     return _MAV_RETURN_float(msg, 16);
 235 }
 236
 237 /**
 238  * @brief Get field vy from local_position_ned message
 239  *
 240  * @return Y Speed
 241  */
 242 static inline float mavlink_msg_local_position_ned_get_vy(const mavlink_message_t *msg)
 243 {
 244     return _MAV_RETURN_float(msg, 20);
 245 }
 246
 247 /**
 248  * @brief Get field vz from local_position_ned message
 249  *
 250  * @return Z Speed
 251  */
 252 static inline float mavlink_msg_local_position_ned_get_vz(const mavlink_message_t *msg)
 253 {
 254     return _MAV_RETURN_float(msg, 24);
 255 }
 256
 257 /**
 258  * @brief Decode a local_position_ned message into a struct
 259  *
 260  * @param msg The message to decode
 261  * @param local_position_ned C-struct to decode the message contents into
 262  */
 263 static inline void mavlink_msg_local_position_ned_decode(const mavlink_message_t *msg, mavlink_local_position_ned_t *local_position_ned)
 264 {
 265 #if MAVLINK_NEED_BYTE_SWAP
 266     local_position_ned->time_boot_ms = mavlink_msg_local_position_ned_get_time_boot_ms(msg);
 267     local_position_ned->x  = mavlink_msg_local_position_ned_get_x(msg);
 268     local_position_ned->y  = mavlink_msg_local_position_ned_get_y(msg);
 269     local_position_ned->z  = mavlink_msg_local_position_ned_get_z(msg);
 270     local_position_ned->vx = mavlink_msg_local_position_ned_get_vx(msg);
 271     local_position_ned->vy = mavlink_msg_local_position_ned_get_vy(msg);
 272     local_position_ned->vz = mavlink_msg_local_position_ned_get_vz(msg);
 273 #else
 274     memcpy(local_position_ned, _MAV_PAYLOAD(msg), 28);
 275 #endif
 276 }