754ab0290b
git-svn-id: https://arducopter.googlecode.com/svn/trunk@3238 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", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_t, usec) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_t, z) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_t, vy) }, \
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{ "vz", NULL, 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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