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mavlink_msg_ekf_status_report.h
1#pragma once
2// MESSAGE EKF_STATUS_REPORT PACKING
3
4#define MAVLINK_MSG_ID_EKF_STATUS_REPORT 193
5
6MAVPACKED(
7typedef struct __mavlink_ekf_status_report_t {
8 float velocity_variance; /*< Velocity variance*/
9 float pos_horiz_variance; /*< Horizontal Position variance*/
10 float pos_vert_variance; /*< Vertical Position variance*/
11 float compass_variance; /*< Compass variance*/
12 float terrain_alt_variance; /*< Terrain Altitude variance*/
13 uint16_t flags; /*< Flags*/
14}) mavlink_ekf_status_report_t;
15
16#define MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN 22
17#define MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN 22
18#define MAVLINK_MSG_ID_193_LEN 22
19#define MAVLINK_MSG_ID_193_MIN_LEN 22
20
21#define MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC 71
22#define MAVLINK_MSG_ID_193_CRC 71
23
24
25
26#if MAVLINK_COMMAND_24BIT
27#define MAVLINK_MESSAGE_INFO_EKF_STATUS_REPORT { \
28 193, \
29 "EKF_STATUS_REPORT", \
30 6, \
31 { { "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_ekf_status_report_t, flags) }, \
32 { "velocity_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ekf_status_report_t, velocity_variance) }, \
33 { "pos_horiz_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ekf_status_report_t, pos_horiz_variance) }, \
34 { "pos_vert_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ekf_status_report_t, pos_vert_variance) }, \
35 { "compass_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ekf_status_report_t, compass_variance) }, \
36 { "terrain_alt_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ekf_status_report_t, terrain_alt_variance) }, \
37 } \
38}
39#else
40#define MAVLINK_MESSAGE_INFO_EKF_STATUS_REPORT { \
41 "EKF_STATUS_REPORT", \
42 6, \
43 { { "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_ekf_status_report_t, flags) }, \
44 { "velocity_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ekf_status_report_t, velocity_variance) }, \
45 { "pos_horiz_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ekf_status_report_t, pos_horiz_variance) }, \
46 { "pos_vert_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ekf_status_report_t, pos_vert_variance) }, \
47 { "compass_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ekf_status_report_t, compass_variance) }, \
48 { "terrain_alt_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ekf_status_report_t, terrain_alt_variance) }, \
49 } \
50}
51#endif
52
67static inline uint16_t mavlink_msg_ekf_status_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
68 uint16_t flags, float velocity_variance, float pos_horiz_variance, float pos_vert_variance, float compass_variance, float terrain_alt_variance)
69{
70#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
71 char buf[MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN];
72 _mav_put_float(buf, 0, velocity_variance);
73 _mav_put_float(buf, 4, pos_horiz_variance);
74 _mav_put_float(buf, 8, pos_vert_variance);
75 _mav_put_float(buf, 12, compass_variance);
76 _mav_put_float(buf, 16, terrain_alt_variance);
77 _mav_put_uint16_t(buf, 20, flags);
78
79 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
80#else
81 mavlink_ekf_status_report_t packet;
82 packet.velocity_variance = velocity_variance;
83 packet.pos_horiz_variance = pos_horiz_variance;
84 packet.pos_vert_variance = pos_vert_variance;
85 packet.compass_variance = compass_variance;
86 packet.terrain_alt_variance = terrain_alt_variance;
87 packet.flags = flags;
88
89 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
90#endif
91
92 msg->msgid = MAVLINK_MSG_ID_EKF_STATUS_REPORT;
93 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
94}
95
110static inline uint16_t mavlink_msg_ekf_status_report_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
111 mavlink_message_t* msg,
112 uint16_t flags,float velocity_variance,float pos_horiz_variance,float pos_vert_variance,float compass_variance,float terrain_alt_variance)
113{
114#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
115 char buf[MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN];
116 _mav_put_float(buf, 0, velocity_variance);
117 _mav_put_float(buf, 4, pos_horiz_variance);
118 _mav_put_float(buf, 8, pos_vert_variance);
119 _mav_put_float(buf, 12, compass_variance);
120 _mav_put_float(buf, 16, terrain_alt_variance);
121 _mav_put_uint16_t(buf, 20, flags);
122
123 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
124#else
125 mavlink_ekf_status_report_t packet;
126 packet.velocity_variance = velocity_variance;
127 packet.pos_horiz_variance = pos_horiz_variance;
128 packet.pos_vert_variance = pos_vert_variance;
129 packet.compass_variance = compass_variance;
130 packet.terrain_alt_variance = terrain_alt_variance;
131 packet.flags = flags;
132
133 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
134#endif
135
136 msg->msgid = MAVLINK_MSG_ID_EKF_STATUS_REPORT;
137 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
138}
139
148static inline uint16_t mavlink_msg_ekf_status_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ekf_status_report_t* ekf_status_report)
149{
150 return mavlink_msg_ekf_status_report_pack(system_id, component_id, msg, ekf_status_report->flags, ekf_status_report->velocity_variance, ekf_status_report->pos_horiz_variance, ekf_status_report->pos_vert_variance, ekf_status_report->compass_variance, ekf_status_report->terrain_alt_variance);
151}
152
162static inline uint16_t mavlink_msg_ekf_status_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ekf_status_report_t* ekf_status_report)
163{
164 return mavlink_msg_ekf_status_report_pack_chan(system_id, component_id, chan, msg, ekf_status_report->flags, ekf_status_report->velocity_variance, ekf_status_report->pos_horiz_variance, ekf_status_report->pos_vert_variance, ekf_status_report->compass_variance, ekf_status_report->terrain_alt_variance);
165}
166
178#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
179
180static inline void mavlink_msg_ekf_status_report_send(mavlink_channel_t chan, uint16_t flags, float velocity_variance, float pos_horiz_variance, float pos_vert_variance, float compass_variance, float terrain_alt_variance)
181{
182#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
183 char buf[MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN];
184 _mav_put_float(buf, 0, velocity_variance);
185 _mav_put_float(buf, 4, pos_horiz_variance);
186 _mav_put_float(buf, 8, pos_vert_variance);
187 _mav_put_float(buf, 12, compass_variance);
188 _mav_put_float(buf, 16, terrain_alt_variance);
189 _mav_put_uint16_t(buf, 20, flags);
190
191 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
192#else
193 mavlink_ekf_status_report_t packet;
194 packet.velocity_variance = velocity_variance;
195 packet.pos_horiz_variance = pos_horiz_variance;
196 packet.pos_vert_variance = pos_vert_variance;
197 packet.compass_variance = compass_variance;
198 packet.terrain_alt_variance = terrain_alt_variance;
199 packet.flags = flags;
200
201 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, (const char *)&packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
202#endif
203}
204
210static inline void mavlink_msg_ekf_status_report_send_struct(mavlink_channel_t chan, const mavlink_ekf_status_report_t* ekf_status_report)
211{
212#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
213 mavlink_msg_ekf_status_report_send(chan, ekf_status_report->flags, ekf_status_report->velocity_variance, ekf_status_report->pos_horiz_variance, ekf_status_report->pos_vert_variance, ekf_status_report->compass_variance, ekf_status_report->terrain_alt_variance);
214#else
215 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, (const char *)ekf_status_report, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
216#endif
217}
218
219#if MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
220/*
221 This varient of _send() can be used to save stack space by re-using
222 memory from the receive buffer. The caller provides a
223 mavlink_message_t which is the size of a full mavlink message. This
224 is usually the receive buffer for the channel, and allows a reply to an
225 incoming message with minimum stack space usage.
226 */
227static inline void mavlink_msg_ekf_status_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t flags, float velocity_variance, float pos_horiz_variance, float pos_vert_variance, float compass_variance, float terrain_alt_variance)
228{
229#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
230 char *buf = (char *)msgbuf;
231 _mav_put_float(buf, 0, velocity_variance);
232 _mav_put_float(buf, 4, pos_horiz_variance);
233 _mav_put_float(buf, 8, pos_vert_variance);
234 _mav_put_float(buf, 12, compass_variance);
235 _mav_put_float(buf, 16, terrain_alt_variance);
236 _mav_put_uint16_t(buf, 20, flags);
237
238 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
239#else
240 mavlink_ekf_status_report_t *packet = (mavlink_ekf_status_report_t *)msgbuf;
241 packet->velocity_variance = velocity_variance;
242 packet->pos_horiz_variance = pos_horiz_variance;
243 packet->pos_vert_variance = pos_vert_variance;
244 packet->compass_variance = compass_variance;
245 packet->terrain_alt_variance = terrain_alt_variance;
246 packet->flags = flags;
247
248 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, (const char *)packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
249#endif
250}
251#endif
252
253#endif
254
255// MESSAGE EKF_STATUS_REPORT UNPACKING
256
257
263static inline uint16_t mavlink_msg_ekf_status_report_get_flags(const mavlink_message_t* msg)
264{
265 return _MAV_RETURN_uint16_t(msg, 20);
266}
267
273static inline float mavlink_msg_ekf_status_report_get_velocity_variance(const mavlink_message_t* msg)
274{
275 return _MAV_RETURN_float(msg, 0);
276}
277
283static inline float mavlink_msg_ekf_status_report_get_pos_horiz_variance(const mavlink_message_t* msg)
284{
285 return _MAV_RETURN_float(msg, 4);
286}
287
293static inline float mavlink_msg_ekf_status_report_get_pos_vert_variance(const mavlink_message_t* msg)
294{
295 return _MAV_RETURN_float(msg, 8);
296}
297
303static inline float mavlink_msg_ekf_status_report_get_compass_variance(const mavlink_message_t* msg)
304{
305 return _MAV_RETURN_float(msg, 12);
306}
307
313static inline float mavlink_msg_ekf_status_report_get_terrain_alt_variance(const mavlink_message_t* msg)
314{
315 return _MAV_RETURN_float(msg, 16);
316}
317
324static inline void mavlink_msg_ekf_status_report_decode(const mavlink_message_t* msg, mavlink_ekf_status_report_t* ekf_status_report)
325{
326#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
327 ekf_status_report->velocity_variance = mavlink_msg_ekf_status_report_get_velocity_variance(msg);
328 ekf_status_report->pos_horiz_variance = mavlink_msg_ekf_status_report_get_pos_horiz_variance(msg);
329 ekf_status_report->pos_vert_variance = mavlink_msg_ekf_status_report_get_pos_vert_variance(msg);
330 ekf_status_report->compass_variance = mavlink_msg_ekf_status_report_get_compass_variance(msg);
331 ekf_status_report->terrain_alt_variance = mavlink_msg_ekf_status_report_get_terrain_alt_variance(msg);
332 ekf_status_report->flags = mavlink_msg_ekf_status_report_get_flags(msg);
333#else
334 uint8_t len = msg->len < MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN? msg->len : MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN;
335 memset(ekf_status_report, 0, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
336 memcpy(ekf_status_report, _MAV_PAYLOAD(msg), len);
337#endif
338}
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