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Ardupilot2/libraries/GCS_MAVLink/include/pixhawk/mavlink_msg_image_triggered.h
james.goppert c7d2a71fea Updated GCS_MAVLink to match mavlink master. 
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3017 f9c3cf11-9bcb-44bc-f272-b75c42450872
2011-08-05 08:18:08 +00:00

353 lines
16 KiB
C
Raw Blame History

// MESSAGE IMAGE_TRIGGERED PACKING
#define MAVLINK_MSG_ID_IMAGE_TRIGGERED 101
typedef struct __mavlink_image_triggered_t
{
uint64_t timestamp; ///< Timestamp
uint32_t seq; ///< IMU seq
float roll; ///< Roll angle in rad
float pitch; ///< Pitch angle in rad
float yaw; ///< Yaw angle in rad
float local_z; ///< Local frame Z coordinate (height over ground)
float lat; ///< GPS X coordinate
float lon; ///< GPS Y coordinate
float alt; ///< Global frame altitude
float ground_x; ///< Ground truth X
float ground_y; ///< Ground truth Y
float ground_z; ///< Ground truth Z
} mavlink_image_triggered_t;
/**
* @brief Pack a image_triggered message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param timestamp Timestamp
* @param seq IMU seq
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param local_z Local frame Z coordinate (height over ground)
* @param lat GPS X coordinate
* @param lon GPS Y coordinate
* @param alt Global frame altitude
* @param ground_x Ground truth X
* @param ground_y Ground truth Y
* @param ground_z Ground truth Z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp
i += put_uint32_t_by_index(seq, i, msg->payload); // IMU seq
i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad
i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad
i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad
i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground)
i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate
i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate
i += put_float_by_index(alt, i, msg->payload); // Global frame altitude
i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X
i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y
i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z
return mavlink_finalize_message(msg, system_id, component_id, i);
}
/**
* @brief Pack a image_triggered message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param timestamp Timestamp
* @param seq IMU seq
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param local_z Local frame Z coordinate (height over ground)
* @param lat GPS X coordinate
* @param lon GPS Y coordinate
* @param alt Global frame altitude
* @param ground_x Ground truth X
* @param ground_y Ground truth Y
* @param ground_z Ground truth Z
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
{
uint16_t i = 0;
msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp
i += put_uint32_t_by_index(seq, i, msg->payload); // IMU seq
i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad
i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad
i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad
i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground)
i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate
i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate
i += put_float_by_index(alt, i, msg->payload); // Global frame altitude
i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X
i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y
i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
}
/**
* @brief Encode a image_triggered struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param image_triggered C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered)
{
return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt, image_triggered->ground_x, image_triggered->ground_y, image_triggered->ground_z);
}
/**
* @brief Send a image_triggered message
* @param chan MAVLink channel to send the message
*
* @param timestamp Timestamp
* @param seq IMU seq
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param local_z Local frame Z coordinate (height over ground)
* @param lat GPS X coordinate
* @param lon GPS Y coordinate
* @param alt Global frame altitude
* @param ground_x Ground truth X
* @param ground_y Ground truth Y
* @param ground_z Ground truth Z
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
{
mavlink_message_t msg;
mavlink_msg_image_triggered_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, timestamp, seq, roll, pitch, yaw, local_z, lat, lon, alt, ground_x, ground_y, ground_z);
mavlink_send_uart(chan, &msg);
}
#endif
// MESSAGE IMAGE_TRIGGERED UNPACKING
/**
* @brief Get field timestamp from image_triggered message
*
* @return Timestamp
*/
static inline uint64_t mavlink_msg_image_triggered_get_timestamp(const mavlink_message_t* msg)
{
generic_64bit r;
r.b[7] = (msg->payload)[0];
r.b[6] = (msg->payload)[1];
r.b[5] = (msg->payload)[2];
r.b[4] = (msg->payload)[3];
r.b[3] = (msg->payload)[4];
r.b[2] = (msg->payload)[5];
r.b[1] = (msg->payload)[6];
r.b[0] = (msg->payload)[7];
return (uint64_t)r.ll;
}
/**
* @brief Get field seq from image_triggered message
*
* @return IMU seq
*/
static inline uint32_t mavlink_msg_image_triggered_get_seq(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t))[3];
return (uint32_t)r.i;
}
/**
* @brief Get field roll from image_triggered message
*
* @return Roll angle in rad
*/
static inline float mavlink_msg_image_triggered_get_roll(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[3];
return (float)r.f;
}
/**
* @brief Get field pitch from image_triggered message
*
* @return Pitch angle in rad
*/
static inline float mavlink_msg_image_triggered_get_pitch(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field yaw from image_triggered message
*
* @return Yaw angle in rad
*/
static inline float mavlink_msg_image_triggered_get_yaw(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field local_z from image_triggered message
*
* @return Local frame Z coordinate (height over ground)
*/
static inline float mavlink_msg_image_triggered_get_local_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field lat from image_triggered message
*
* @return GPS X coordinate
*/
static inline float mavlink_msg_image_triggered_get_lat(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field lon from image_triggered message
*
* @return GPS Y coordinate
*/
static inline float mavlink_msg_image_triggered_get_lon(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field alt from image_triggered message
*
* @return Global frame altitude
*/
static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field ground_x from image_triggered message
*
* @return Ground truth X
*/
static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field ground_y from image_triggered message
*
* @return Ground truth Y
*/
static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Get field ground_z from image_triggered message
*
* @return Ground truth Z
*/
static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_message_t* msg)
{
generic_32bit r;
r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
return (float)r.f;
}
/**
* @brief Decode a image_triggered message into a struct
*
* @param msg The message to decode
* @param image_triggered C-struct to decode the message contents into
*/
static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* msg, mavlink_image_triggered_t* image_triggered)
{
image_triggered->timestamp = mavlink_msg_image_triggered_get_timestamp(msg);
image_triggered->seq = mavlink_msg_image_triggered_get_seq(msg);
image_triggered->roll = mavlink_msg_image_triggered_get_roll(msg);
image_triggered->pitch = mavlink_msg_image_triggered_get_pitch(msg);
image_triggered->yaw = mavlink_msg_image_triggered_get_yaw(msg);
image_triggered->local_z = mavlink_msg_image_triggered_get_local_z(msg);
image_triggered->lat = mavlink_msg_image_triggered_get_lat(msg);
image_triggered->lon = mavlink_msg_image_triggered_get_lon(msg);
image_triggered->alt = mavlink_msg_image_triggered_get_alt(msg);
image_triggered->ground_x = mavlink_msg_image_triggered_get_ground_x(msg);
image_triggered->ground_y = mavlink_msg_image_triggered_get_ground_y(msg);
image_triggered->ground_z = mavlink_msg_image_triggered_get_ground_z(msg);
}
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