3ae2186021
this new implementation reduces code size, and also reduces stack usage, while avoiding the gcc union stack bug Note that we will gain even more when we move to the new protocol version, especially in terms of code size git-svn-id: https://arducopter.googlecode.com/svn/trunk@3200 f9c3cf11-9bcb-44bc-f272-b75c42450872
277 lines
8.1 KiB
C
277 lines
8.1 KiB
C
// MESSAGE LOCAL_POSITION PACKING
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#define MAVLINK_MSG_ID_LOCAL_POSITION 31
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typedef struct __mavlink_local_position_t
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{
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uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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float x; ///< X Position
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float y; ///< Y Position
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float z; ///< Z Position
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float vx; ///< X Speed
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float vy; ///< Y Speed
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float vz; ///< Z Speed
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} mavlink_local_position_t;
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#define MAVLINK_MSG_ID_LOCAL_POSITION_LEN 32
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#define MAVLINK_MSG_ID_31_LEN 32
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#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION { \
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"LOCAL_POSITION", \
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7, \
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{ { "usec", MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_t, usec) }, \
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{ "x", MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, x) }, \
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{ "y", MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, y) }, \
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{ "z", MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, z) }, \
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{ "vx", MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vx) }, \
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{ "vy", MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vy) }, \
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{ "vz", MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_t, vz) }, \
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} \
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}
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/**
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* @brief Pack a local_position message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param x X Position
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* @param y Y Position
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* @param z Z Position
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* @param vx X Speed
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* @param vy Y Speed
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* @param vz Z Speed
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[32];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_float(buf, 20, vx);
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_mav_put_float(buf, 24, vy);
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_mav_put_float(buf, 28, vz);
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memcpy(_MAV_PAYLOAD(msg), buf, 32);
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#else
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mavlink_local_position_t packet;
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packet.usec = usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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memcpy(_MAV_PAYLOAD(msg), &packet, 32);
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#endif
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msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
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return mavlink_finalize_message(msg, system_id, component_id, 32);
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}
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/**
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* @brief Pack a local_position message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param x X Position
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* @param y Y Position
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* @param z Z Position
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* @param vx X Speed
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* @param vy Y Speed
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* @param vz Z Speed
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t usec,float x,float y,float z,float vx,float vy,float vz)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[32];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_float(buf, 20, vx);
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_mav_put_float(buf, 24, vy);
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_mav_put_float(buf, 28, vz);
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memcpy(_MAV_PAYLOAD(msg), buf, 32);
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#else
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mavlink_local_position_t packet;
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packet.usec = usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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memcpy(_MAV_PAYLOAD(msg), &packet, 32);
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#endif
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msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 32);
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}
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/**
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* @brief Encode a local_position struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param local_position C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_t* local_position)
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{
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return mavlink_msg_local_position_pack(system_id, component_id, msg, local_position->usec, local_position->x, local_position->y, local_position->z, local_position->vx, local_position->vy, local_position->vz);
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}
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/**
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* @brief Send a local_position message
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* @param chan MAVLink channel to send the message
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*
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* @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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* @param x X Position
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* @param y Y Position
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* @param z Z Position
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* @param vx X Speed
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* @param vy Y Speed
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* @param vz Z Speed
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[32];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_float(buf, 20, vx);
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_mav_put_float(buf, 24, vy);
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_mav_put_float(buf, 28, vz);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, buf, 32);
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#else
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mavlink_local_position_t packet;
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packet.usec = usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION, (const char *)&packet, 32);
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#endif
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}
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#endif
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// MESSAGE LOCAL_POSITION UNPACKING
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/**
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* @brief Get field usec from local_position message
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*
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* @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
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*/
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static inline uint64_t mavlink_msg_local_position_get_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field x from local_position message
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*
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* @return X Position
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*/
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static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field y from local_position message
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*
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* @return Y Position
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*/
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static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field z from local_position message
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*
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* @return Z Position
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*/
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static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field vx from local_position message
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*
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* @return X Speed
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*/
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static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field vy from local_position message
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*
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* @return Y Speed
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*/
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static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Get field vz from local_position message
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*
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* @return Z Speed
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*/
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static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 28);
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}
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/**
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* @brief Decode a local_position message into a struct
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*
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* @param msg The message to decode
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* @param local_position C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_local_position_decode(const mavlink_message_t* msg, mavlink_local_position_t* local_position)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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local_position->usec = mavlink_msg_local_position_get_usec(msg);
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local_position->x = mavlink_msg_local_position_get_x(msg);
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local_position->y = mavlink_msg_local_position_get_y(msg);
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local_position->z = mavlink_msg_local_position_get_z(msg);
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local_position->vx = mavlink_msg_local_position_get_vx(msg);
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local_position->vy = mavlink_msg_local_position_get_vy(msg);
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local_position->vz = mavlink_msg_local_position_get_vz(msg);
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#else
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memcpy(local_position, _MAV_PAYLOAD(msg), 32);
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#endif
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}
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