cbdf462acc
git-svn-id: https://arducopter.googlecode.com/svn/trunk@1494 f9c3cf11-9bcb-44bc-f272-b75c42450872
243 lines
8.6 KiB
C
243 lines
8.6 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)
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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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/**
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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)
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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, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
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i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch)
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i += put_float_by_index(x, i, msg->payload); // X Position
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i += put_float_by_index(y, i, msg->payload); // Y Position
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i += put_float_by_index(z, i, msg->payload); // Z Position
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i += put_float_by_index(vx, i, msg->payload); // X Speed
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i += put_float_by_index(vy, i, msg->payload); // Y Speed
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i += put_float_by_index(vz, i, msg->payload); // Z Speed
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return mavlink_finalize_message(msg, system_id, component_id, i);
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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 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)
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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, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float vx, float vy, float vz)
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{
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uint16_t i = 0;
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msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION;
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i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since unix epoch)
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i += put_float_by_index(x, i, msg->payload); // X Position
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i += put_float_by_index(y, i, msg->payload); // Y Position
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i += put_float_by_index(z, i, msg->payload); // Z Position
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i += put_float_by_index(vx, i, msg->payload); // X Speed
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i += put_float_by_index(vy, i, msg->payload); // Y Speed
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i += put_float_by_index(vz, i, msg->payload); // Z Speed
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
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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)
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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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mavlink_message_t msg;
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mavlink_msg_local_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, vx, vy, vz);
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mavlink_send_uart(chan, &msg);
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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)
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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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generic_64bit r;
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r.b[7] = (msg->payload)[0];
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r.b[6] = (msg->payload)[1];
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r.b[5] = (msg->payload)[2];
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r.b[4] = (msg->payload)[3];
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r.b[3] = (msg->payload)[4];
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r.b[2] = (msg->payload)[5];
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r.b[1] = (msg->payload)[6];
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r.b[0] = (msg->payload)[7];
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return (uint64_t)r.ll;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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generic_32bit r;
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r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
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r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
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r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
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r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
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return (float)r.f;
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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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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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}
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