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mavlink_msg_att_pos_mocap.h
1#pragma once
2// MESSAGE ATT_POS_MOCAP PACKING
3
4#define MAVLINK_MSG_ID_ATT_POS_MOCAP 138
5
6MAVPACKED(
7typedef struct __mavlink_att_pos_mocap_t {
8 uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
9 float q[4]; /*< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
10 float x; /*< X position in meters (NED)*/
11 float y; /*< Y position in meters (NED)*/
12 float z; /*< Z position in meters (NED)*/
13}) mavlink_att_pos_mocap_t;
14
15#define MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN 36
16#define MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN 36
17#define MAVLINK_MSG_ID_138_LEN 36
18#define MAVLINK_MSG_ID_138_MIN_LEN 36
19
20#define MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC 109
21#define MAVLINK_MSG_ID_138_CRC 109
22
23#define MAVLINK_MSG_ATT_POS_MOCAP_FIELD_Q_LEN 4
24
25#if MAVLINK_COMMAND_24BIT
26#define MAVLINK_MESSAGE_INFO_ATT_POS_MOCAP { \
27 138, \
28 "ATT_POS_MOCAP", \
29 5, \
30 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_att_pos_mocap_t, time_usec) }, \
31 { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_att_pos_mocap_t, q) }, \
32 { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_att_pos_mocap_t, x) }, \
33 { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_att_pos_mocap_t, y) }, \
34 { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_att_pos_mocap_t, z) }, \
35 } \
36}
37#else
38#define MAVLINK_MESSAGE_INFO_ATT_POS_MOCAP { \
39 "ATT_POS_MOCAP", \
40 5, \
41 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_att_pos_mocap_t, time_usec) }, \
42 { "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_att_pos_mocap_t, q) }, \
43 { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_att_pos_mocap_t, x) }, \
44 { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_att_pos_mocap_t, y) }, \
45 { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_att_pos_mocap_t, z) }, \
46 } \
47}
48#endif
49
50/**
51 * @brief Pack a att_pos_mocap message
52 * @param system_id ID of this system
53 * @param component_id ID of this component (e.g. 200 for IMU)
54 * @param msg The MAVLink message to compress the data into
55 *
56 * @param time_usec Timestamp (micros since boot or Unix epoch)
57 * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
58 * @param x X position in meters (NED)
59 * @param y Y position in meters (NED)
60 * @param z Z position in meters (NED)
61 * @return length of the message in bytes (excluding serial stream start sign)
62 */
63static inline uint16_t mavlink_msg_att_pos_mocap_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
64 uint64_t time_usec, const float *q, float x, float y, float z)
65{
66#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
67 char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN];
68 _mav_put_uint64_t(buf, 0, time_usec);
69 _mav_put_float(buf, 24, x);
70 _mav_put_float(buf, 28, y);
71 _mav_put_float(buf, 32, z);
72 _mav_put_float_array(buf, 8, q, 4);
73 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
74#else
75 mavlink_att_pos_mocap_t packet;
76 packet.time_usec = time_usec;
77 packet.x = x;
78 packet.y = y;
79 packet.z = z;
80 mav_array_memcpy(packet.q, q, sizeof(float)*4);
81 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
82#endif
83
84 msg->msgid = MAVLINK_MSG_ID_ATT_POS_MOCAP;
85 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
86}
87
88/**
89 * @brief Pack a att_pos_mocap message on a channel
90 * @param system_id ID of this system
91 * @param component_id ID of this component (e.g. 200 for IMU)
92 * @param chan The MAVLink channel this message will be sent over
93 * @param msg The MAVLink message to compress the data into
94 * @param time_usec Timestamp (micros since boot or Unix epoch)
95 * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
96 * @param x X position in meters (NED)
97 * @param y Y position in meters (NED)
98 * @param z Z position in meters (NED)
99 * @return length of the message in bytes (excluding serial stream start sign)
100 */
101static inline uint16_t mavlink_msg_att_pos_mocap_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
102 mavlink_message_t* msg,
103 uint64_t time_usec,const float *q,float x,float y,float z)
104{
105#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
106 char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN];
107 _mav_put_uint64_t(buf, 0, time_usec);
108 _mav_put_float(buf, 24, x);
109 _mav_put_float(buf, 28, y);
110 _mav_put_float(buf, 32, z);
111 _mav_put_float_array(buf, 8, q, 4);
112 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
113#else
114 mavlink_att_pos_mocap_t packet;
115 packet.time_usec = time_usec;
116 packet.x = x;
117 packet.y = y;
118 packet.z = z;
119 mav_array_memcpy(packet.q, q, sizeof(float)*4);
120 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
121#endif
122
123 msg->msgid = MAVLINK_MSG_ID_ATT_POS_MOCAP;
124 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
125}
126
127/**
128 * @brief Encode a att_pos_mocap struct
129 *
130 * @param system_id ID of this system
131 * @param component_id ID of this component (e.g. 200 for IMU)
132 * @param msg The MAVLink message to compress the data into
133 * @param att_pos_mocap C-struct to read the message contents from
134 */
135static inline uint16_t mavlink_msg_att_pos_mocap_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_att_pos_mocap_t* att_pos_mocap)
136{
137 return mavlink_msg_att_pos_mocap_pack(system_id, component_id, msg, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z);
138}
139
140/**
141 * @brief Encode a att_pos_mocap struct on a channel
142 *
143 * @param system_id ID of this system
144 * @param component_id ID of this component (e.g. 200 for IMU)
145 * @param chan The MAVLink channel this message will be sent over
146 * @param msg The MAVLink message to compress the data into
147 * @param att_pos_mocap C-struct to read the message contents from
148 */
149static inline uint16_t mavlink_msg_att_pos_mocap_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_att_pos_mocap_t* att_pos_mocap)
150{
151 return mavlink_msg_att_pos_mocap_pack_chan(system_id, component_id, chan, msg, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z);
152}
153
154/**
155 * @brief Send a att_pos_mocap message
156 * @param chan MAVLink channel to send the message
157 *
158 * @param time_usec Timestamp (micros since boot or Unix epoch)
159 * @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
160 * @param x X position in meters (NED)
161 * @param y Y position in meters (NED)
162 * @param z Z position in meters (NED)
163 */
164#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
165
166static inline void mavlink_msg_att_pos_mocap_send(mavlink_channel_t chan, uint64_t time_usec, const float *q, float x, float y, float z)
167{
168#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
169 char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN];
170 _mav_put_uint64_t(buf, 0, time_usec);
171 _mav_put_float(buf, 24, x);
172 _mav_put_float(buf, 28, y);
173 _mav_put_float(buf, 32, z);
174 _mav_put_float_array(buf, 8, q, 4);
175 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
176#else
177 mavlink_att_pos_mocap_t packet;
178 packet.time_usec = time_usec;
179 packet.x = x;
180 packet.y = y;
181 packet.z = z;
182 mav_array_memcpy(packet.q, q, sizeof(float)*4);
183 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)&packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
184#endif
185}
186
187/**
188 * @brief Send a att_pos_mocap message
189 * @param chan MAVLink channel to send the message
190 * @param struct The MAVLink struct to serialize
191 */
192static inline void mavlink_msg_att_pos_mocap_send_struct(mavlink_channel_t chan, const mavlink_att_pos_mocap_t* att_pos_mocap)
193{
194#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
195 mavlink_msg_att_pos_mocap_send(chan, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z);
196#else
197 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)att_pos_mocap, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
198#endif
199}
200
201#if MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN <= MAVLINK_MAX_PAYLOAD_LEN
202/*
203 This varient of _send() can be used to save stack space by re-using
204 memory from the receive buffer. The caller provides a
205 mavlink_message_t which is the size of a full mavlink message. This
206 is usually the receive buffer for the channel, and allows a reply to an
207 incoming message with minimum stack space usage.
208 */
209static inline void mavlink_msg_att_pos_mocap_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *q, float x, float y, float z)
210{
211#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
212 char *buf = (char *)msgbuf;
213 _mav_put_uint64_t(buf, 0, time_usec);
214 _mav_put_float(buf, 24, x);
215 _mav_put_float(buf, 28, y);
216 _mav_put_float(buf, 32, z);
217 _mav_put_float_array(buf, 8, q, 4);
218 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
219#else
220 mavlink_att_pos_mocap_t *packet = (mavlink_att_pos_mocap_t *)msgbuf;
221 packet->time_usec = time_usec;
222 packet->x = x;
223 packet->y = y;
224 packet->z = z;
225 mav_array_memcpy(packet->q, q, sizeof(float)*4);
226 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
227#endif
228}
229#endif
230
231#endif
232
233// MESSAGE ATT_POS_MOCAP UNPACKING
234
235
236/**
237 * @brief Get field time_usec from att_pos_mocap message
238 *
239 * @return Timestamp (micros since boot or Unix epoch)
240 */
241static inline uint64_t mavlink_msg_att_pos_mocap_get_time_usec(const mavlink_message_t* msg)
242{
243 return _MAV_RETURN_uint64_t(msg, 0);
244}
245
246/**
247 * @brief Get field q from att_pos_mocap message
248 *
249 * @return Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
250 */
251static inline uint16_t mavlink_msg_att_pos_mocap_get_q(const mavlink_message_t* msg, float *q)
252{
253 return _MAV_RETURN_float_array(msg, q, 4, 8);
254}
255
256/**
257 * @brief Get field x from att_pos_mocap message
258 *
259 * @return X position in meters (NED)
260 */
261static inline float mavlink_msg_att_pos_mocap_get_x(const mavlink_message_t* msg)
262{
263 return _MAV_RETURN_float(msg, 24);
264}
265
266/**
267 * @brief Get field y from att_pos_mocap message
268 *
269 * @return Y position in meters (NED)
270 */
271static inline float mavlink_msg_att_pos_mocap_get_y(const mavlink_message_t* msg)
272{
273 return _MAV_RETURN_float(msg, 28);
274}
275
276/**
277 * @brief Get field z from att_pos_mocap message
278 *
279 * @return Z position in meters (NED)
280 */
281static inline float mavlink_msg_att_pos_mocap_get_z(const mavlink_message_t* msg)
282{
283 return _MAV_RETURN_float(msg, 32);
284}
285
286/**
287 * @brief Decode a att_pos_mocap message into a struct
288 *
289 * @param msg The message to decode
290 * @param att_pos_mocap C-struct to decode the message contents into
291 */
292static inline void mavlink_msg_att_pos_mocap_decode(const mavlink_message_t* msg, mavlink_att_pos_mocap_t* att_pos_mocap)
293{
294#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
295 att_pos_mocap->time_usec = mavlink_msg_att_pos_mocap_get_time_usec(msg);
296 mavlink_msg_att_pos_mocap_get_q(msg, att_pos_mocap->q);
297 att_pos_mocap->x = mavlink_msg_att_pos_mocap_get_x(msg);
298 att_pos_mocap->y = mavlink_msg_att_pos_mocap_get_y(msg);
299 att_pos_mocap->z = mavlink_msg_att_pos_mocap_get_z(msg);
300#else
301 uint8_t len = msg->len < MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN? msg->len : MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN;
302 memset(att_pos_mocap, 0, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
303 memcpy(att_pos_mocap, _MAV_PAYLOAD(msg), len);
304#endif
305}
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