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mavlink_msg_vision_speed_estimate.h
1#pragma once
2// MESSAGE VISION_SPEED_ESTIMATE PACKING
3
4#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 103
5
6MAVPACKED(
7typedef struct __mavlink_vision_speed_estimate_t {
8 uint64_t usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
9 float x; /*< Global X speed*/
10 float y; /*< Global Y speed*/
11 float z; /*< Global Z speed*/
12}) mavlink_vision_speed_estimate_t;
13
14#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 20
15#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN 20
16#define MAVLINK_MSG_ID_103_LEN 20
17#define MAVLINK_MSG_ID_103_MIN_LEN 20
18
19#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC 208
20#define MAVLINK_MSG_ID_103_CRC 208
21
22
23
24#if MAVLINK_COMMAND_24BIT
25#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
26 103, \
27 "VISION_SPEED_ESTIMATE", \
28 4, \
29 { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
30 { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
31 { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
32 { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
33 } \
34}
35#else
36#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
37 "VISION_SPEED_ESTIMATE", \
38 4, \
39 { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
40 { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
41 { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
42 { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
43 } \
44}
45#endif
46
47/**
48 * @brief Pack a vision_speed_estimate message
49 * @param system_id ID of this system
50 * @param component_id ID of this component (e.g. 200 for IMU)
51 * @param msg The MAVLink message to compress the data into
52 *
53 * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
54 * @param x Global X speed
55 * @param y Global Y speed
56 * @param z Global Z speed
57 * @return length of the message in bytes (excluding serial stream start sign)
58 */
59static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
60 uint64_t usec, float x, float y, float z)
61{
62#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
63 char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
64 _mav_put_uint64_t(buf, 0, usec);
65 _mav_put_float(buf, 8, x);
66 _mav_put_float(buf, 12, y);
67 _mav_put_float(buf, 16, z);
68
69 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
70#else
71 mavlink_vision_speed_estimate_t packet;
72 packet.usec = usec;
73 packet.x = x;
74 packet.y = y;
75 packet.z = z;
76
77 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
78#endif
79
80 msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
81 return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
82}
83
84/**
85 * @brief Pack a vision_speed_estimate message on a channel
86 * @param system_id ID of this system
87 * @param component_id ID of this component (e.g. 200 for IMU)
88 * @param chan The MAVLink channel this message will be sent over
89 * @param msg The MAVLink message to compress the data into
90 * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
91 * @param x Global X speed
92 * @param y Global Y speed
93 * @param z Global Z speed
94 * @return length of the message in bytes (excluding serial stream start sign)
95 */
96static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
97 mavlink_message_t* msg,
98 uint64_t usec,float x,float y,float z)
99{
100#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
101 char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
102 _mav_put_uint64_t(buf, 0, usec);
103 _mav_put_float(buf, 8, x);
104 _mav_put_float(buf, 12, y);
105 _mav_put_float(buf, 16, z);
106
107 memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
108#else
109 mavlink_vision_speed_estimate_t packet;
110 packet.usec = usec;
111 packet.x = x;
112 packet.y = y;
113 packet.z = z;
114
115 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
116#endif
117
118 msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
119 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
120}
121
122/**
123 * @brief Encode a vision_speed_estimate struct
124 *
125 * @param system_id ID of this system
126 * @param component_id ID of this component (e.g. 200 for IMU)
127 * @param msg The MAVLink message to compress the data into
128 * @param vision_speed_estimate C-struct to read the message contents from
129 */
130static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
131{
132 return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
133}
134
135/**
136 * @brief Encode a vision_speed_estimate struct on a channel
137 *
138 * @param system_id ID of this system
139 * @param component_id ID of this component (e.g. 200 for IMU)
140 * @param chan The MAVLink channel this message will be sent over
141 * @param msg The MAVLink message to compress the data into
142 * @param vision_speed_estimate C-struct to read the message contents from
143 */
144static inline uint16_t mavlink_msg_vision_speed_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
145{
146 return mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, chan, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
147}
148
149/**
150 * @brief Send a vision_speed_estimate message
151 * @param chan MAVLink channel to send the message
152 *
153 * @param usec Timestamp (microseconds, synced to UNIX time or since system boot)
154 * @param x Global X speed
155 * @param y Global Y speed
156 * @param z Global Z speed
157 */
158#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
159
160static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
161{
162#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
163 char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
164 _mav_put_uint64_t(buf, 0, usec);
165 _mav_put_float(buf, 8, x);
166 _mav_put_float(buf, 12, y);
167 _mav_put_float(buf, 16, z);
168
169 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
170#else
171 mavlink_vision_speed_estimate_t packet;
172 packet.usec = usec;
173 packet.x = x;
174 packet.y = y;
175 packet.z = z;
176
177 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
178#endif
179}
180
181/**
182 * @brief Send a vision_speed_estimate message
183 * @param chan MAVLink channel to send the message
184 * @param struct The MAVLink struct to serialize
185 */
186static inline void mavlink_msg_vision_speed_estimate_send_struct(mavlink_channel_t chan, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
187{
188#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
189 mavlink_msg_vision_speed_estimate_send(chan, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
190#else
191 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)vision_speed_estimate, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
192#endif
193}
194
195#if MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
196/*
197 This varient of _send() can be used to save stack space by re-using
198 memory from the receive buffer. The caller provides a
199 mavlink_message_t which is the size of a full mavlink message. This
200 is usually the receive buffer for the channel, and allows a reply to an
201 incoming message with minimum stack space usage.
202 */
203static inline void mavlink_msg_vision_speed_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
204{
205#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
206 char *buf = (char *)msgbuf;
207 _mav_put_uint64_t(buf, 0, usec);
208 _mav_put_float(buf, 8, x);
209 _mav_put_float(buf, 12, y);
210 _mav_put_float(buf, 16, z);
211
212 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
213#else
214 mavlink_vision_speed_estimate_t *packet = (mavlink_vision_speed_estimate_t *)msgbuf;
215 packet->usec = usec;
216 packet->x = x;
217 packet->y = y;
218 packet->z = z;
219
220 _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
221#endif
222}
223#endif
224
225#endif
226
227// MESSAGE VISION_SPEED_ESTIMATE UNPACKING
228
229
230/**
231 * @brief Get field usec from vision_speed_estimate message
232 *
233 * @return Timestamp (microseconds, synced to UNIX time or since system boot)
234 */
235static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
236{
237 return _MAV_RETURN_uint64_t(msg, 0);
238}
239
240/**
241 * @brief Get field x from vision_speed_estimate message
242 *
243 * @return Global X speed
244 */
245static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg)
246{
247 return _MAV_RETURN_float(msg, 8);
248}
249
250/**
251 * @brief Get field y from vision_speed_estimate message
252 *
253 * @return Global Y speed
254 */
255static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg)
256{
257 return _MAV_RETURN_float(msg, 12);
258}
259
260/**
261 * @brief Get field z from vision_speed_estimate message
262 *
263 * @return Global Z speed
264 */
265static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg)
266{
267 return _MAV_RETURN_float(msg, 16);
268}
269
270/**
271 * @brief Decode a vision_speed_estimate message into a struct
272 *
273 * @param msg The message to decode
274 * @param vision_speed_estimate C-struct to decode the message contents into
275 */
276static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate)
277{
278#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
279 vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg);
280 vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
281 vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
282 vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
283#else
284 uint8_t len = msg->len < MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN;
285 memset(vision_speed_estimate, 0, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
286 memcpy(vision_speed_estimate, _MAV_PAYLOAD(msg), len);
287#endif
288}
制作者 doxygen 1.11.0