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mavlink_msg_vision_position_estimate.h
1#pragma once
2// MESSAGE VISION_POSITION_ESTIMATE PACKING
3
4#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 102
5
6MAVPACKED(
7typedef struct __mavlink_vision_position_estimate_t {
8 uint64_t usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
9 float x; /*< Global X position*/
10 float y; /*< Global Y position*/
11 float z; /*< Global Z position*/
12 float roll; /*< Roll angle in rad*/
13 float pitch; /*< Pitch angle in rad*/
14 float yaw; /*< Yaw angle in rad*/
15}) mavlink_vision_position_estimate_t;
16
17#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 32
18#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN 32
19#define MAVLINK_MSG_ID_102_LEN 32
20#define MAVLINK_MSG_ID_102_MIN_LEN 32
21
22#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC 158
23#define MAVLINK_MSG_ID_102_CRC 158
24
25
26
27#if MAVLINK_COMMAND_24BIT
28#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
29 102, \
30 "VISION_POSITION_ESTIMATE", \
31 7, \
32 { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \
33 { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \
34 { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \
35 { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_position_estimate_t, z) }, \
36 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \
37 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \
38 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \
39 } \
40}
41#else
42#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
43 "VISION_POSITION_ESTIMATE", \
44 7, \
45 { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \
46 { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \
47 { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \
48 { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_position_estimate_t, z) }, \
49 { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \
50 { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \
51 { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \
52 } \
53}
54#endif
55
71static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
72 uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
73{
74#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
75 char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
76 _mav_put_uint64_t(buf, 0, usec);
77 _mav_put_float(buf, 8, x);
78 _mav_put_float(buf, 12, y);
79 _mav_put_float(buf, 16, z);
80 _mav_put_float(buf, 20, roll);
81 _mav_put_float(buf, 24, pitch);
82 _mav_put_float(buf, 28, yaw);
83
84 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
85#else
86 mavlink_vision_position_estimate_t packet;
87 packet.usec = usec;
88 packet.x = x;
89 packet.y = y;
90 packet.z = z;
91 packet.roll = roll;
92 packet.pitch = pitch;
93 packet.yaw = yaw;
94
95 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
96#endif
97
98 msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE;
99 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
100}
101
117static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
118 mavlink_message_t* msg,
119 uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
120{
121#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
122 char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
123 _mav_put_uint64_t(buf, 0, usec);
124 _mav_put_float(buf, 8, x);
125 _mav_put_float(buf, 12, y);
126 _mav_put_float(buf, 16, z);
127 _mav_put_float(buf, 20, roll);
128 _mav_put_float(buf, 24, pitch);
129 _mav_put_float(buf, 28, yaw);
130
131 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
132#else
133 mavlink_vision_position_estimate_t packet;
134 packet.usec = usec;
135 packet.x = x;
136 packet.y = y;
137 packet.z = z;
138 packet.roll = roll;
139 packet.pitch = pitch;
140 packet.yaw = yaw;
141
142 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
143#endif
144
145 msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE;
146 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
147}
148
157static 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)
158{
159 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);
160}
161
171static 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)
172{
173 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);
174}
175
188#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
189
190static 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)
191{
192#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
193 char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
194 _mav_put_uint64_t(buf, 0, usec);
195 _mav_put_float(buf, 8, x);
196 _mav_put_float(buf, 12, y);
197 _mav_put_float(buf, 16, z);
198 _mav_put_float(buf, 20, roll);
199 _mav_put_float(buf, 24, pitch);
200 _mav_put_float(buf, 28, yaw);
201
202 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
203#else
204 mavlink_vision_position_estimate_t packet;
205 packet.usec = usec;
206 packet.x = x;
207 packet.y = y;
208 packet.z = z;
209 packet.roll = roll;
210 packet.pitch = pitch;
211 packet.yaw = yaw;
212
213 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
214#endif
215}
216
222static inline void mavlink_msg_vision_position_estimate_send_struct(mavlink_channel_t chan, const mavlink_vision_position_estimate_t* vision_position_estimate)
223{
224#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
225 mavlink_msg_vision_position_estimate_send(chan, 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);
226#else
227 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)vision_position_estimate, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
228#endif
229}
230
231#if MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
232/*
233 This varient of _send() can be used to save stack space by re-using
234 memory from the receive buffer. The caller provides a
235 mavlink_message_t which is the size of a full mavlink message. This
236 is usually the receive buffer for the channel, and allows a reply to an
237 incoming message with minimum stack space usage.
238 */
239static 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)
240{
241#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
242 char *buf = (char *)msgbuf;
243 _mav_put_uint64_t(buf, 0, usec);
244 _mav_put_float(buf, 8, x);
245 _mav_put_float(buf, 12, y);
246 _mav_put_float(buf, 16, z);
247 _mav_put_float(buf, 20, roll);
248 _mav_put_float(buf, 24, pitch);
249 _mav_put_float(buf, 28, yaw);
250
251 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
252#else
253 mavlink_vision_position_estimate_t *packet = (mavlink_vision_position_estimate_t *)msgbuf;
254 packet->usec = usec;
255 packet->x = x;
256 packet->y = y;
257 packet->z = z;
258 packet->roll = roll;
259 packet->pitch = pitch;
260 packet->yaw = yaw;
261
262 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
263#endif
264}
265#endif
266
267#endif
268
269// MESSAGE VISION_POSITION_ESTIMATE UNPACKING
270
271
277static inline uint64_t mavlink_msg_vision_position_estimate_get_usec(const mavlink_message_t* msg)
278{
279 return _MAV_RETURN_uint64_t(msg, 0);
280}
281
287static inline float mavlink_msg_vision_position_estimate_get_x(const mavlink_message_t* msg)
288{
289 return _MAV_RETURN_float(msg, 8);
290}
291
297static inline float mavlink_msg_vision_position_estimate_get_y(const mavlink_message_t* msg)
298{
299 return _MAV_RETURN_float(msg, 12);
300}
301
307static inline float mavlink_msg_vision_position_estimate_get_z(const mavlink_message_t* msg)
308{
309 return _MAV_RETURN_float(msg, 16);
310}
311
317static inline float mavlink_msg_vision_position_estimate_get_roll(const mavlink_message_t* msg)
318{
319 return _MAV_RETURN_float(msg, 20);
320}
321
327static inline float mavlink_msg_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
328{
329 return _MAV_RETURN_float(msg, 24);
330}
331
337static inline float mavlink_msg_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
338{
339 return _MAV_RETURN_float(msg, 28);
340}
341
348static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_vision_position_estimate_t* vision_position_estimate)
349{
350#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
351 vision_position_estimate->usec = mavlink_msg_vision_position_estimate_get_usec(msg);
352 vision_position_estimate->x = mavlink_msg_vision_position_estimate_get_x(msg);
353 vision_position_estimate->y = mavlink_msg_vision_position_estimate_get_y(msg);
354 vision_position_estimate->z = mavlink_msg_vision_position_estimate_get_z(msg);
355 vision_position_estimate->roll = mavlink_msg_vision_position_estimate_get_roll(msg);
356 vision_position_estimate->pitch = mavlink_msg_vision_position_estimate_get_pitch(msg);
357 vision_position_estimate->yaw = mavlink_msg_vision_position_estimate_get_yaw(msg);
358#else
359 uint8_t len = msg->len < MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN;
360 memset(vision_position_estimate, 0, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
361 memcpy(vision_position_estimate, _MAV_PAYLOAD(msg), len);
362#endif
363}
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