MAV'RIC
mavlink_msg_vision_position_estimate.h
1 // MESSAGE VISION_POSITION_ESTIMATE PACKING
2 
3 #define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 102
4 
5 typedef struct __mavlink_vision_position_estimate_t
6 {
7  uint64_t usec;
8  float x;
9  float y;
10  float z;
11  float roll;
12  float pitch;
13  float yaw;
14 } mavlink_vision_position_estimate_t;
15 
16 #define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 32
17 #define MAVLINK_MSG_ID_102_LEN 32
18 
19 #define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC 158
20 #define MAVLINK_MSG_ID_102_CRC 158
21 
22 
23 
24 #define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
25  "VISION_POSITION_ESTIMATE", \
26  7, \
27  { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \
28  { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \
29  { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \
30  { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_position_estimate_t, z) }, \
31  { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \
32  { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \
33  { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \
34  } \
35 }
36 
37 
53 static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
54  uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
55 {
56 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
57  char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
58  _mav_put_uint64_t(buf, 0, usec);
59  _mav_put_float(buf, 8, x);
60  _mav_put_float(buf, 12, y);
61  _mav_put_float(buf, 16, z);
62  _mav_put_float(buf, 20, roll);
63  _mav_put_float(buf, 24, pitch);
64  _mav_put_float(buf, 28, yaw);
65 
66  memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
67 #else
68  mavlink_vision_position_estimate_t packet;
69  packet.usec = usec;
70  packet.x = x;
71  packet.y = y;
72  packet.z = z;
73  packet.roll = roll;
74  packet.pitch = pitch;
75  packet.yaw = yaw;
76 
77  memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
78 #endif
79 
80  msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE;
81 #if MAVLINK_CRC_EXTRA
82  return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
83 #else
84  return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
85 #endif
86 }
87 
103 static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
104  mavlink_message_t* msg,
105  uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
106 {
107 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
108  char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
109  _mav_put_uint64_t(buf, 0, usec);
110  _mav_put_float(buf, 8, x);
111  _mav_put_float(buf, 12, y);
112  _mav_put_float(buf, 16, z);
113  _mav_put_float(buf, 20, roll);
114  _mav_put_float(buf, 24, pitch);
115  _mav_put_float(buf, 28, yaw);
116 
117  memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
118 #else
119  mavlink_vision_position_estimate_t packet;
120  packet.usec = usec;
121  packet.x = x;
122  packet.y = y;
123  packet.z = z;
124  packet.roll = roll;
125  packet.pitch = pitch;
126  packet.yaw = yaw;
127 
128  memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
129 #endif
130 
131  msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE;
132 #if MAVLINK_CRC_EXTRA
133  return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
134 #else
135  return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
136 #endif
137 }
138 
147 static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate)
148 {
149  return mavlink_msg_vision_position_estimate_pack(system_id, component_id, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw);
150 }
151 
161 static inline uint16_t mavlink_msg_vision_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate)
162 {
163  return mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw);
164 }
165 
178 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
179 
180 static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
181 {
182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
183  char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
184  _mav_put_uint64_t(buf, 0, usec);
185  _mav_put_float(buf, 8, x);
186  _mav_put_float(buf, 12, y);
187  _mav_put_float(buf, 16, z);
188  _mav_put_float(buf, 20, roll);
189  _mav_put_float(buf, 24, pitch);
190  _mav_put_float(buf, 28, yaw);
191 
192 #if MAVLINK_CRC_EXTRA
193  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
194 #else
195  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
196 #endif
197 #else
198  mavlink_vision_position_estimate_t packet;
199  packet.usec = usec;
200  packet.x = x;
201  packet.y = y;
202  packet.z = z;
203  packet.roll = roll;
204  packet.pitch = pitch;
205  packet.yaw = yaw;
206 
207 #if MAVLINK_CRC_EXTRA
208  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
209 #else
210  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
211 #endif
212 #endif
213 }
214 
215 #if MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
216 /*
217  This varient of _send() can be used to save stack space by re-using
218  memory from the receive buffer. The caller provides a
219  mavlink_message_t which is the size of a full mavlink message. This
220  is usually the receive buffer for the channel, and allows a reply to an
221  incoming message with minimum stack space usage.
222  */
223 static inline void mavlink_msg_vision_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
224 {
225 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
226  char *buf = (char *)msgbuf;
227  _mav_put_uint64_t(buf, 0, usec);
228  _mav_put_float(buf, 8, x);
229  _mav_put_float(buf, 12, y);
230  _mav_put_float(buf, 16, z);
231  _mav_put_float(buf, 20, roll);
232  _mav_put_float(buf, 24, pitch);
233  _mav_put_float(buf, 28, yaw);
234 
235 #if MAVLINK_CRC_EXTRA
236  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
237 #else
238  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
239 #endif
240 #else
241  mavlink_vision_position_estimate_t *packet = (mavlink_vision_position_estimate_t *)msgbuf;
242  packet->usec = usec;
243  packet->x = x;
244  packet->y = y;
245  packet->z = z;
246  packet->roll = roll;
247  packet->pitch = pitch;
248  packet->yaw = yaw;
249 
250 #if MAVLINK_CRC_EXTRA
251  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
252 #else
253  _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
254 #endif
255 #endif
256 }
257 #endif
258 
259 #endif
260 
261 // MESSAGE VISION_POSITION_ESTIMATE UNPACKING
262 
263 
269 static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavlink_message_t* msg)
270 {
271  return _MAV_RETURN_uint64_t(msg, 0);
272 }
273 
279 static inline float mavlink_msg_vision_position_estimate_get_x(const mavlink_message_t* msg)
280 {
281  return _MAV_RETURN_float(msg, 8);
282 }
283 
289 static inline float mavlink_msg_vision_position_estimate_get_y(const mavlink_message_t* msg)
290 {
291  return _MAV_RETURN_float(msg, 12);
292 }
293 
299 static inline float mavlink_msg_vision_position_estimate_get_z(const mavlink_message_t* msg)
300 {
301  return _MAV_RETURN_float(msg, 16);
302 }
303 
309 static inline float mavlink_msg_vision_position_estimate_get_roll(const mavlink_message_t* msg)
310 {
311  return _MAV_RETURN_float(msg, 20);
312 }
313 
319 static inline float mavlink_msg_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
320 {
321  return _MAV_RETURN_float(msg, 24);
322 }
323 
329 static inline float mavlink_msg_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
330 {
331  return _MAV_RETURN_float(msg, 28);
332 }
333 
340 static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_vision_position_estimate_t* vision_position_estimate)
341 {
342 #if MAVLINK_NEED_BYTE_SWAP
343  vision_position_estimate->usec = mavlink_msg_vision_position_estimate_get_usec(msg);
344  vision_position_estimate->x = mavlink_msg_vision_position_estimate_get_x(msg);
345  vision_position_estimate->y = mavlink_msg_vision_position_estimate_get_y(msg);
346  vision_position_estimate->z = mavlink_msg_vision_position_estimate_get_z(msg);
347  vision_position_estimate->roll = mavlink_msg_vision_position_estimate_get_roll(msg);
348  vision_position_estimate->pitch = mavlink_msg_vision_position_estimate_get_pitch(msg);
349  vision_position_estimate->yaw = mavlink_msg_vision_position_estimate_get_yaw(msg);
350 #else
351  memcpy(vision_position_estimate, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
352 #endif
353 }
__mavlink_vision_position_estimate_t::usec
uint64_t usec
Timestamp (microseconds, synced to UNIX time or since system boot)
Definition: mavlink_msg_vision_position_estimate.h:7
__mavlink_vision_position_estimate_t
Definition: mavlink_msg_vision_position_estimate.h:5
__mavlink_vision_position_estimate_t::yaw
float yaw
Yaw angle in rad.
Definition: mavlink_msg_vision_position_estimate.h:13
__mavlink_vision_position_estimate_t::z
float z
Global Z position.
Definition: mavlink_msg_vision_position_estimate.h:10
__mavlink_vision_position_estimate_t::pitch
float pitch
Pitch angle in rad.
Definition: mavlink_msg_vision_position_estimate.h:12
__mavlink_vision_position_estimate_t::roll
float roll
Roll angle in rad.
Definition: mavlink_msg_vision_position_estimate.h:11
__mavlink_vision_position_estimate_t::y
float y
Global Y position.
Definition: mavlink_msg_vision_position_estimate.h:9
__mavlink_vision_position_estimate_t::x
float x
Global X position.
Definition: mavlink_msg_vision_position_estimate.h:8
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