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mavlink_msg_camera_feedback.h
1#pragma once
2// MESSAGE CAMERA_FEEDBACK PACKING
3
4#define MAVLINK_MSG_ID_CAMERA_FEEDBACK 180
5
6MAVPACKED(
7typedef struct __mavlink_camera_feedback_t {
8 uint64_t time_usec; /*< Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB)*/
9 int32_t lat; /*< Latitude in (deg * 1E7)*/
10 int32_t lng; /*< Longitude in (deg * 1E7)*/
11 float alt_msl; /*< Altitude Absolute (meters AMSL)*/
12 float alt_rel; /*< Altitude Relative (meters above HOME location)*/
13 float roll; /*< Camera Roll angle (earth frame, degrees, +-180)*/
14 float pitch; /*< Camera Pitch angle (earth frame, degrees, +-180)*/
15 float yaw; /*< Camera Yaw (earth frame, degrees, 0-360, true)*/
16 float foc_len; /*< Focal Length (mm)*/
17 uint16_t img_idx; /*< Image index*/
18 uint8_t target_system; /*< System ID*/
19 uint8_t cam_idx; /*< Camera ID*/
20 uint8_t flags; /*< See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask*/
21}) mavlink_camera_feedback_t;
22
23#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN 45
24#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN 45
25#define MAVLINK_MSG_ID_180_LEN 45
26#define MAVLINK_MSG_ID_180_MIN_LEN 45
27
28#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC 52
29#define MAVLINK_MSG_ID_180_CRC 52
30
31
32
33#if MAVLINK_COMMAND_24BIT
34#define MAVLINK_MESSAGE_INFO_CAMERA_FEEDBACK { \
35 180, \
36 "CAMERA_FEEDBACK", \
37 13, \
38 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_feedback_t, time_usec) }, \
39 { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_camera_feedback_t, target_system) }, \
40 { "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_camera_feedback_t, cam_idx) }, \
41 { "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_camera_feedback_t, img_idx) }, \
42 { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_camera_feedback_t, lat) }, \
43 { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_camera_feedback_t, lng) }, \
44 { "alt_msl", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_feedback_t, alt_msl) }, \
45 { "alt_rel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_feedback_t, alt_rel) }, \
46 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_camera_feedback_t, roll) }, \
47 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_camera_feedback_t, pitch) }, \
48 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_camera_feedback_t, yaw) }, \
49 { "foc_len", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_camera_feedback_t, foc_len) }, \
50 { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 44, offsetof(mavlink_camera_feedback_t, flags) }, \
51 } \
52}
53#else
54#define MAVLINK_MESSAGE_INFO_CAMERA_FEEDBACK { \
55 "CAMERA_FEEDBACK", \
56 13, \
57 { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_feedback_t, time_usec) }, \
58 { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_camera_feedback_t, target_system) }, \
59 { "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_camera_feedback_t, cam_idx) }, \
60 { "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_camera_feedback_t, img_idx) }, \
61 { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_camera_feedback_t, lat) }, \
62 { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_camera_feedback_t, lng) }, \
63 { "alt_msl", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_feedback_t, alt_msl) }, \
64 { "alt_rel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_feedback_t, alt_rel) }, \
65 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_camera_feedback_t, roll) }, \
66 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_camera_feedback_t, pitch) }, \
67 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_camera_feedback_t, yaw) }, \
68 { "foc_len", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_camera_feedback_t, foc_len) }, \
69 { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 44, offsetof(mavlink_camera_feedback_t, flags) }, \
70 } \
71}
72#endif
73
95static inline uint16_t mavlink_msg_camera_feedback_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
96 uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
97{
98#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
99 char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN];
100 _mav_put_uint64_t(buf, 0, time_usec);
101 _mav_put_int32_t(buf, 8, lat);
102 _mav_put_int32_t(buf, 12, lng);
103 _mav_put_float(buf, 16, alt_msl);
104 _mav_put_float(buf, 20, alt_rel);
105 _mav_put_float(buf, 24, roll);
106 _mav_put_float(buf, 28, pitch);
107 _mav_put_float(buf, 32, yaw);
108 _mav_put_float(buf, 36, foc_len);
109 _mav_put_uint16_t(buf, 40, img_idx);
110 _mav_put_uint8_t(buf, 42, target_system);
111 _mav_put_uint8_t(buf, 43, cam_idx);
112 _mav_put_uint8_t(buf, 44, flags);
113
114 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
115#else
116 mavlink_camera_feedback_t packet;
117 packet.time_usec = time_usec;
118 packet.lat = lat;
119 packet.lng = lng;
120 packet.alt_msl = alt_msl;
121 packet.alt_rel = alt_rel;
122 packet.roll = roll;
123 packet.pitch = pitch;
124 packet.yaw = yaw;
125 packet.foc_len = foc_len;
126 packet.img_idx = img_idx;
127 packet.target_system = target_system;
128 packet.cam_idx = cam_idx;
129 packet.flags = flags;
130
131 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
132#endif
133
134 msg->msgid = MAVLINK_MSG_ID_CAMERA_FEEDBACK;
135 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
136}
137
159static inline uint16_t mavlink_msg_camera_feedback_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
160 mavlink_message_t* msg,
161 uint64_t time_usec,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,int32_t lat,int32_t lng,float alt_msl,float alt_rel,float roll,float pitch,float yaw,float foc_len,uint8_t flags)
162{
163#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
164 char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN];
165 _mav_put_uint64_t(buf, 0, time_usec);
166 _mav_put_int32_t(buf, 8, lat);
167 _mav_put_int32_t(buf, 12, lng);
168 _mav_put_float(buf, 16, alt_msl);
169 _mav_put_float(buf, 20, alt_rel);
170 _mav_put_float(buf, 24, roll);
171 _mav_put_float(buf, 28, pitch);
172 _mav_put_float(buf, 32, yaw);
173 _mav_put_float(buf, 36, foc_len);
174 _mav_put_uint16_t(buf, 40, img_idx);
175 _mav_put_uint8_t(buf, 42, target_system);
176 _mav_put_uint8_t(buf, 43, cam_idx);
177 _mav_put_uint8_t(buf, 44, flags);
178
179 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
180#else
181 mavlink_camera_feedback_t packet;
182 packet.time_usec = time_usec;
183 packet.lat = lat;
184 packet.lng = lng;
185 packet.alt_msl = alt_msl;
186 packet.alt_rel = alt_rel;
187 packet.roll = roll;
188 packet.pitch = pitch;
189 packet.yaw = yaw;
190 packet.foc_len = foc_len;
191 packet.img_idx = img_idx;
192 packet.target_system = target_system;
193 packet.cam_idx = cam_idx;
194 packet.flags = flags;
195
196 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
197#endif
198
199 msg->msgid = MAVLINK_MSG_ID_CAMERA_FEEDBACK;
200 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
201}
202
211static inline uint16_t mavlink_msg_camera_feedback_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback)
212{
213 return mavlink_msg_camera_feedback_pack(system_id, component_id, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt_msl, camera_feedback->alt_rel, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
214}
215
225static inline uint16_t mavlink_msg_camera_feedback_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback)
226{
227 return mavlink_msg_camera_feedback_pack_chan(system_id, component_id, chan, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt_msl, camera_feedback->alt_rel, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
228}
229
248#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
249
250static inline void mavlink_msg_camera_feedback_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
251{
252#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
253 char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN];
254 _mav_put_uint64_t(buf, 0, time_usec);
255 _mav_put_int32_t(buf, 8, lat);
256 _mav_put_int32_t(buf, 12, lng);
257 _mav_put_float(buf, 16, alt_msl);
258 _mav_put_float(buf, 20, alt_rel);
259 _mav_put_float(buf, 24, roll);
260 _mav_put_float(buf, 28, pitch);
261 _mav_put_float(buf, 32, yaw);
262 _mav_put_float(buf, 36, foc_len);
263 _mav_put_uint16_t(buf, 40, img_idx);
264 _mav_put_uint8_t(buf, 42, target_system);
265 _mav_put_uint8_t(buf, 43, cam_idx);
266 _mav_put_uint8_t(buf, 44, flags);
267
268 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
269#else
270 mavlink_camera_feedback_t packet;
271 packet.time_usec = time_usec;
272 packet.lat = lat;
273 packet.lng = lng;
274 packet.alt_msl = alt_msl;
275 packet.alt_rel = alt_rel;
276 packet.roll = roll;
277 packet.pitch = pitch;
278 packet.yaw = yaw;
279 packet.foc_len = foc_len;
280 packet.img_idx = img_idx;
281 packet.target_system = target_system;
282 packet.cam_idx = cam_idx;
283 packet.flags = flags;
284
285 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
286#endif
287}
288
294static inline void mavlink_msg_camera_feedback_send_struct(mavlink_channel_t chan, const mavlink_camera_feedback_t* camera_feedback)
295{
296#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
297 mavlink_msg_camera_feedback_send(chan, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt_msl, camera_feedback->alt_rel, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
298#else
299 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)camera_feedback, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
300#endif
301}
302
303#if MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
304/*
305 This varient of _send() can be used to save stack space by re-using
306 memory from the receive buffer. The caller provides a
307 mavlink_message_t which is the size of a full mavlink message. This
308 is usually the receive buffer for the channel, and allows a reply to an
309 incoming message with minimum stack space usage.
310 */
311static inline void mavlink_msg_camera_feedback_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
312{
313#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
314 char *buf = (char *)msgbuf;
315 _mav_put_uint64_t(buf, 0, time_usec);
316 _mav_put_int32_t(buf, 8, lat);
317 _mav_put_int32_t(buf, 12, lng);
318 _mav_put_float(buf, 16, alt_msl);
319 _mav_put_float(buf, 20, alt_rel);
320 _mav_put_float(buf, 24, roll);
321 _mav_put_float(buf, 28, pitch);
322 _mav_put_float(buf, 32, yaw);
323 _mav_put_float(buf, 36, foc_len);
324 _mav_put_uint16_t(buf, 40, img_idx);
325 _mav_put_uint8_t(buf, 42, target_system);
326 _mav_put_uint8_t(buf, 43, cam_idx);
327 _mav_put_uint8_t(buf, 44, flags);
328
329 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
330#else
331 mavlink_camera_feedback_t *packet = (mavlink_camera_feedback_t *)msgbuf;
332 packet->time_usec = time_usec;
333 packet->lat = lat;
334 packet->lng = lng;
335 packet->alt_msl = alt_msl;
336 packet->alt_rel = alt_rel;
337 packet->roll = roll;
338 packet->pitch = pitch;
339 packet->yaw = yaw;
340 packet->foc_len = foc_len;
341 packet->img_idx = img_idx;
342 packet->target_system = target_system;
343 packet->cam_idx = cam_idx;
344 packet->flags = flags;
345
346 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
347#endif
348}
349#endif
350
351#endif
352
353// MESSAGE CAMERA_FEEDBACK UNPACKING
354
355
361static inline uint64_t mavlink_msg_camera_feedback_get_time_usec(const mavlink_message_t* msg)
362{
363 return _MAV_RETURN_uint64_t(msg, 0);
364}
365
371static inline uint8_t mavlink_msg_camera_feedback_get_target_system(const mavlink_message_t* msg)
372{
373 return _MAV_RETURN_uint8_t(msg, 42);
374}
375
381static inline uint8_t mavlink_msg_camera_feedback_get_cam_idx(const mavlink_message_t* msg)
382{
383 return _MAV_RETURN_uint8_t(msg, 43);
384}
385
391static inline uint16_t mavlink_msg_camera_feedback_get_img_idx(const mavlink_message_t* msg)
392{
393 return _MAV_RETURN_uint16_t(msg, 40);
394}
395
401static inline int32_t mavlink_msg_camera_feedback_get_lat(const mavlink_message_t* msg)
402{
403 return _MAV_RETURN_int32_t(msg, 8);
404}
405
411static inline int32_t mavlink_msg_camera_feedback_get_lng(const mavlink_message_t* msg)
412{
413 return _MAV_RETURN_int32_t(msg, 12);
414}
415
421static inline float mavlink_msg_camera_feedback_get_alt_msl(const mavlink_message_t* msg)
422{
423 return _MAV_RETURN_float(msg, 16);
424}
425
431static inline float mavlink_msg_camera_feedback_get_alt_rel(const mavlink_message_t* msg)
432{
433 return _MAV_RETURN_float(msg, 20);
434}
435
441static inline float mavlink_msg_camera_feedback_get_roll(const mavlink_message_t* msg)
442{
443 return _MAV_RETURN_float(msg, 24);
444}
445
451static inline float mavlink_msg_camera_feedback_get_pitch(const mavlink_message_t* msg)
452{
453 return _MAV_RETURN_float(msg, 28);
454}
455
461static inline float mavlink_msg_camera_feedback_get_yaw(const mavlink_message_t* msg)
462{
463 return _MAV_RETURN_float(msg, 32);
464}
465
471static inline float mavlink_msg_camera_feedback_get_foc_len(const mavlink_message_t* msg)
472{
473 return _MAV_RETURN_float(msg, 36);
474}
475
481static inline uint8_t mavlink_msg_camera_feedback_get_flags(const mavlink_message_t* msg)
482{
483 return _MAV_RETURN_uint8_t(msg, 44);
484}
485
492static inline void mavlink_msg_camera_feedback_decode(const mavlink_message_t* msg, mavlink_camera_feedback_t* camera_feedback)
493{
494#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
495 camera_feedback->time_usec = mavlink_msg_camera_feedback_get_time_usec(msg);
496 camera_feedback->lat = mavlink_msg_camera_feedback_get_lat(msg);
497 camera_feedback->lng = mavlink_msg_camera_feedback_get_lng(msg);
498 camera_feedback->alt_msl = mavlink_msg_camera_feedback_get_alt_msl(msg);
499 camera_feedback->alt_rel = mavlink_msg_camera_feedback_get_alt_rel(msg);
500 camera_feedback->roll = mavlink_msg_camera_feedback_get_roll(msg);
501 camera_feedback->pitch = mavlink_msg_camera_feedback_get_pitch(msg);
502 camera_feedback->yaw = mavlink_msg_camera_feedback_get_yaw(msg);
503 camera_feedback->foc_len = mavlink_msg_camera_feedback_get_foc_len(msg);
504 camera_feedback->img_idx = mavlink_msg_camera_feedback_get_img_idx(msg);
505 camera_feedback->target_system = mavlink_msg_camera_feedback_get_target_system(msg);
506 camera_feedback->cam_idx = mavlink_msg_camera_feedback_get_cam_idx(msg);
507 camera_feedback->flags = mavlink_msg_camera_feedback_get_flags(msg);
508#else
509 uint8_t len = msg->len < MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN? msg->len : MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN;
510 memset(camera_feedback, 0, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
511 memcpy(camera_feedback, _MAV_PAYLOAD(msg), len);
512#endif
513}
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