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

   1 // MESSAGE VICON_POSITION_ESTIMATE PACKING
   2
   3 #define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE 104
   4
   5 typedef struct __mavlink_vicon_position_estimate_t {
   6     uint64_t usec; ///< Timestamp (milliseconds)
   7     float    x; ///< Global X position
   8     float    y; ///< Global Y position
   9     float    z; ///< Global Z position
  10     float    roll; ///< Roll angle in rad
  11     float    pitch; ///< Pitch angle in rad
  12     float    yaw; ///< Yaw angle in rad
  13 } mavlink_vicon_position_estimate_t;
  14
  15 #define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 32
  16 #define MAVLINK_MSG_ID_104_LEN                     32
  17
  18
  19 #define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE \
  20     { \
  21         "VICON_POSITION_ESTIMATE", \
  22         7, \
  23         { \
  24             { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \
  25             { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \
  26             { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \
  27             { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vicon_position_estimate_t, z) }, \
  28             { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \
  29             { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \
  30             { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \
  31         } \
  32     }
  33
  34
  35 /**
  36  * @brief Pack a vicon_position_estimate 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 usec Timestamp (milliseconds)
  42  * @param x Global X position
  43  * @param y Global Y position
  44  * @param z Global Z position
  45  * @param roll Roll angle in rad
  46  * @param pitch Pitch angle in rad
  47  * @param yaw Yaw angle in rad
  48  * @return length of the message in bytes (excluding serial stream start sign)
  49  */
  50 static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t *msg,
  51                                                                 uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
  52 {
  53 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  54     char buf[32];
  55     _mav_put_uint64_t(buf, 0, usec);
  56     _mav_put_float(buf, 8, x);
  57     _mav_put_float(buf, 12, y);
  58     _mav_put_float(buf, 16, z);
  59     _mav_put_float(buf, 20, roll);
  60     _mav_put_float(buf, 24, pitch);
  61     _mav_put_float(buf, 28, yaw);
  62
  63     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
  64 #else
  65     mavlink_vicon_position_estimate_t packet;
  66     packet.usec  = usec;
  67     packet.x     = x;
  68     packet.y     = y;
  69     packet.z     = z;
  70     packet.roll  = roll;
  71     packet.pitch = pitch;
  72     packet.yaw   = yaw;
  73
  74     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
  75 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  76
  77     msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
  78     return mavlink_finalize_message(msg, system_id, component_id, 32, 56);
  79 }
  80
  81 /**
  82  * @brief Pack a vicon_position_estimate 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 usec Timestamp (milliseconds)
  88  * @param x Global X position
  89  * @param y Global Y position
  90  * @param z Global Z position
  91  * @param roll Roll angle in rad
  92  * @param pitch Pitch angle in rad
  93  * @param yaw Yaw angle in rad
  94  * @return length of the message in bytes (excluding serial stream start sign)
  95  */
  96 static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  97                                                                      mavlink_message_t *msg,
  98                                                                      uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
  99 {
 100 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 101     char buf[32];
 102     _mav_put_uint64_t(buf, 0, usec);
 103     _mav_put_float(buf, 8, x);
 104     _mav_put_float(buf, 12, y);
 105     _mav_put_float(buf, 16, z);
 106     _mav_put_float(buf, 20, roll);
 107     _mav_put_float(buf, 24, pitch);
 108     _mav_put_float(buf, 28, yaw);
 109
 110     memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 32);
 111 #else
 112     mavlink_vicon_position_estimate_t packet;
 113     packet.usec  = usec;
 114     packet.x     = x;
 115     packet.y     = y;
 116     packet.z     = z;
 117     packet.roll  = roll;
 118     packet.pitch = pitch;
 119     packet.yaw   = yaw;
 120
 121     memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 32);
 122 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 123
 124     msg->msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
 125     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32, 56);
 126 }
 127
 128 /**
 129  * @brief Encode a vicon_position_estimate 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 vicon_position_estimate C-struct to read the message contents from
 135  */
 136 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)
 137 {
 138     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);
 139 }
 140
 141 /**
 142  * @brief Send a vicon_position_estimate message
 143  * @param chan MAVLink channel to send the message
 144  *
 145  * @param usec Timestamp (milliseconds)
 146  * @param x Global X position
 147  * @param y Global Y position
 148  * @param z Global Z position
 149  * @param roll Roll angle in rad
 150  * @param pitch Pitch angle in rad
 151  * @param yaw Yaw angle in rad
 152  */
 153 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 154
 155 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)
 156 {
 157 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 158     char buf[32];
 159     _mav_put_uint64_t(buf, 0, usec);
 160     _mav_put_float(buf, 8, x);
 161     _mav_put_float(buf, 12, y);
 162     _mav_put_float(buf, 16, z);
 163     _mav_put_float(buf, 20, roll);
 164     _mav_put_float(buf, 24, pitch);
 165     _mav_put_float(buf, 28, yaw);
 166
 167     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, 32, 56);
 168 #else
 169     mavlink_vicon_position_estimate_t packet;
 170     packet.usec  = usec;
 171     packet.x     = x;
 172     packet.y     = y;
 173     packet.z     = z;
 174     packet.roll  = roll;
 175     packet.pitch = pitch;
 176     packet.yaw   = yaw;
 177
 178     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)&packet, 32, 56);
 179 #endif // if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 180 }
 181
 182 #endif // ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 183
 184 // MESSAGE VICON_POSITION_ESTIMATE UNPACKING
 185
 186
 187 /**
 188  * @brief Get field usec from vicon_position_estimate message
 189  *
 190  * @return Timestamp (milliseconds)
 191  */
 192 static inline uint64_t mavlink_msg_vicon_position_estimate_get_usec(const mavlink_message_t *msg)
 193 {
 194     return _MAV_RETURN_uint64_t(msg, 0);
 195 }
 196
 197 /**
 198  * @brief Get field x from vicon_position_estimate message
 199  *
 200  * @return Global X position
 201  */
 202 static inline float mavlink_msg_vicon_position_estimate_get_x(const mavlink_message_t *msg)
 203 {
 204     return _MAV_RETURN_float(msg, 8);
 205 }
 206
 207 /**
 208  * @brief Get field y from vicon_position_estimate message
 209  *
 210  * @return Global Y position
 211  */
 212 static inline float mavlink_msg_vicon_position_estimate_get_y(const mavlink_message_t *msg)
 213 {
 214     return _MAV_RETURN_float(msg, 12);
 215 }
 216
 217 /**
 218  * @brief Get field z from vicon_position_estimate message
 219  *
 220  * @return Global Z position
 221  */
 222 static inline float mavlink_msg_vicon_position_estimate_get_z(const mavlink_message_t *msg)
 223 {
 224     return _MAV_RETURN_float(msg, 16);
 225 }
 226
 227 /**
 228  * @brief Get field roll from vicon_position_estimate message
 229  *
 230  * @return Roll angle in rad
 231  */
 232 static inline float mavlink_msg_vicon_position_estimate_get_roll(const mavlink_message_t *msg)
 233 {
 234     return _MAV_RETURN_float(msg, 20);
 235 }
 236
 237 /**
 238  * @brief Get field pitch from vicon_position_estimate message
 239  *
 240  * @return Pitch angle in rad
 241  */
 242 static inline float mavlink_msg_vicon_position_estimate_get_pitch(const mavlink_message_t *msg)
 243 {
 244     return _MAV_RETURN_float(msg, 24);
 245 }
 246
 247 /**
 248  * @brief Get field yaw from vicon_position_estimate message
 249  *
 250  * @return Yaw angle in rad
 251  */
 252 static inline float mavlink_msg_vicon_position_estimate_get_yaw(const mavlink_message_t *msg)
 253 {
 254     return _MAV_RETURN_float(msg, 28);
 255 }
 256
 257 /**
 258  * @brief Decode a vicon_position_estimate message into a struct
 259  *
 260  * @param msg The message to decode
 261  * @param vicon_position_estimate C-struct to decode the message contents into
 262  */
 263 static inline void mavlink_msg_vicon_position_estimate_decode(const mavlink_message_t *msg, mavlink_vicon_position_estimate_t *vicon_position_estimate)
 264 {
 265 #if MAVLINK_NEED_BYTE_SWAP
 266     vicon_position_estimate->usec  = mavlink_msg_vicon_position_estimate_get_usec(msg);
 267     vicon_position_estimate->x     = mavlink_msg_vicon_position_estimate_get_x(msg);
 268     vicon_position_estimate->y     = mavlink_msg_vicon_position_estimate_get_y(msg);
 269     vicon_position_estimate->z     = mavlink_msg_vicon_position_estimate_get_z(msg);
 270     vicon_position_estimate->roll  = mavlink_msg_vicon_position_estimate_get_roll(msg);
 271     vicon_position_estimate->pitch = mavlink_msg_vicon_position_estimate_get_pitch(msg);
 272     vicon_position_estimate->yaw   = mavlink_msg_vicon_position_estimate_get_yaw(msg);
 273 #else
 274     memcpy(vicon_position_estimate, _MAV_PAYLOAD(msg), 32);
 275 #endif
 276 }