diff options
Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned_cov.h')
| -rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned_cov.h | 417 |
1 files changed, 417 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned_cov.h b/ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned_cov.h new file mode 100644 index 0000000..0a94af3 --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned_cov.h @@ -0,0 +1,417 @@ +// MESSAGE LOCAL_POSITION_NED_COV PACKING + +#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV 64 + +typedef struct __mavlink_local_position_ned_cov_t +{ + uint64_t time_utc; ///< Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver. + uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot) + float x; ///< X Position + float y; ///< Y Position + float z; ///< Z Position + float vx; ///< X Speed + float vy; ///< Y Speed + float vz; ///< Z Speed + float covariance[36]; ///< Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.) + uint8_t estimator_type; ///< Class id of the estimator this estimate originated from. +} mavlink_local_position_ned_cov_t; + +#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN 181 +#define MAVLINK_MSG_ID_64_LEN 181 + +#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC 82 +#define MAVLINK_MSG_ID_64_CRC 82 + +#define MAVLINK_MSG_LOCAL_POSITION_NED_COV_FIELD_COVARIANCE_LEN 36 + +#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_COV { \ + "LOCAL_POSITION_NED_COV", \ + 10, \ + { { "time_utc", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_ned_cov_t, time_utc) }, \ + { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_local_position_ned_cov_t, time_boot_ms) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_cov_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_cov_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_cov_t, z) }, \ + { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_cov_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_ned_cov_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_local_position_ned_cov_t, vz) }, \ + { "covariance", NULL, MAVLINK_TYPE_FLOAT, 36, 36, offsetof(mavlink_local_position_ned_cov_t, covariance) }, \ + { "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 180, offsetof(mavlink_local_position_ned_cov_t, estimator_type) }, \ + } \ +} + + +/** + * @brief Pack a local_position_ned_cov message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver. + * @param estimator_type Class id of the estimator this estimate originated from. + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_ned_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, const float *covariance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN]; + _mav_put_uint64_t(buf, 0, time_utc); + _mav_put_uint32_t(buf, 8, time_boot_ms); + _mav_put_float(buf, 12, x); + _mav_put_float(buf, 16, y); + _mav_put_float(buf, 20, z); + _mav_put_float(buf, 24, vx); + _mav_put_float(buf, 28, vy); + _mav_put_float(buf, 32, vz); + _mav_put_uint8_t(buf, 180, estimator_type); + _mav_put_float_array(buf, 36, covariance, 36); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#else + mavlink_local_position_ned_cov_t packet; + packet.time_utc = time_utc; + packet.time_boot_ms = time_boot_ms; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.estimator_type = estimator_type; + mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#endif +} + +/** + * @brief Pack a local_position_ned_cov message on a channel + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver. + * @param estimator_type Class id of the estimator this estimate originated from. + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.) + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_ned_cov_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,uint64_t time_utc,uint8_t estimator_type,float x,float y,float z,float vx,float vy,float vz,const float *covariance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN]; + _mav_put_uint64_t(buf, 0, time_utc); + _mav_put_uint32_t(buf, 8, time_boot_ms); + _mav_put_float(buf, 12, x); + _mav_put_float(buf, 16, y); + _mav_put_float(buf, 20, z); + _mav_put_float(buf, 24, vx); + _mav_put_float(buf, 28, vy); + _mav_put_float(buf, 32, vz); + _mav_put_uint8_t(buf, 180, estimator_type); + _mav_put_float_array(buf, 36, covariance, 36); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#else + mavlink_local_position_ned_cov_t packet; + packet.time_utc = time_utc; + packet.time_boot_ms = time_boot_ms; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.estimator_type = estimator_type; + mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36); + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#endif +} + +/** + * @brief Encode a local_position_ned_cov struct + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param local_position_ned_cov C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_ned_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_cov_t* local_position_ned_cov) +{ + return mavlink_msg_local_position_ned_cov_pack(system_id, component_id, msg, local_position_ned_cov->time_boot_ms, local_position_ned_cov->time_utc, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->covariance); +} + +/** + * @brief Encode a local_position_ned_cov struct on a channel + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message will be sent over + * @param msg The MAVLink message to compress the data into + * @param local_position_ned_cov C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_ned_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_cov_t* local_position_ned_cov) +{ + return mavlink_msg_local_position_ned_cov_pack_chan(system_id, component_id, chan, msg, local_position_ned_cov->time_boot_ms, local_position_ned_cov->time_utc, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->covariance); +} + +/** + * @brief Send a local_position_ned_cov message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param time_utc Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver. + * @param estimator_type Class id of the estimator this estimate originated from. + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @param covariance Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.) + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_local_position_ned_cov_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, const float *covariance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN]; + _mav_put_uint64_t(buf, 0, time_utc); + _mav_put_uint32_t(buf, 8, time_boot_ms); + _mav_put_float(buf, 12, x); + _mav_put_float(buf, 16, y); + _mav_put_float(buf, 20, z); + _mav_put_float(buf, 24, vx); + _mav_put_float(buf, 28, vy); + _mav_put_float(buf, 32, vz); + _mav_put_uint8_t(buf, 180, estimator_type); + _mav_put_float_array(buf, 36, covariance, 36); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#endif +#else + mavlink_local_position_ned_cov_t packet; + packet.time_utc = time_utc; + packet.time_boot_ms = time_boot_ms; + packet.x = x; + packet.y = y; + packet.z = z; + packet.vx = vx; + packet.vy = vy; + packet.vz = vz; + packet.estimator_type = estimator_type; + mav_array_memcpy(packet.covariance, covariance, sizeof(float)*36); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN <= MAVLINK_MAX_PAYLOAD_LEN +/* + This varient of _send() can be used to save stack space by re-using + memory from the receive buffer. The caller provides a + mavlink_message_t which is the size of a full mavlink message. This + is usually the receive buffer for the channel, and allows a reply to an + incoming message with minimum stack space usage. + */ +static inline void mavlink_msg_local_position_ned_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint64_t time_utc, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, const float *covariance) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint64_t(buf, 0, time_utc); + _mav_put_uint32_t(buf, 8, time_boot_ms); + _mav_put_float(buf, 12, x); + _mav_put_float(buf, 16, y); + _mav_put_float(buf, 20, z); + _mav_put_float(buf, 24, vx); + _mav_put_float(buf, 28, vy); + _mav_put_float(buf, 32, vz); + _mav_put_uint8_t(buf, 180, estimator_type); + _mav_put_float_array(buf, 36, covariance, 36); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#endif +#else + mavlink_local_position_ned_cov_t *packet = (mavlink_local_position_ned_cov_t *)msgbuf; + packet->time_utc = time_utc; + packet->time_boot_ms = time_boot_ms; + packet->x = x; + packet->y = y; + packet->z = z; + packet->vx = vx; + packet->vy = vy; + packet->vz = vz; + packet->estimator_type = estimator_type; + mav_array_memcpy(packet->covariance, covariance, sizeof(float)*36); +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE LOCAL_POSITION_NED_COV UNPACKING + + +/** + * @brief Get field time_boot_ms from local_position_ned_cov message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_local_position_ned_cov_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 8); +} + +/** + * @brief Get field time_utc from local_position_ned_cov message + * + * @return Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver. + */ +static inline uint64_t mavlink_msg_local_position_ned_cov_get_time_utc(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field estimator_type from local_position_ned_cov message + * + * @return Class id of the estimator this estimate originated from. + */ +static inline uint8_t mavlink_msg_local_position_ned_cov_get_estimator_type(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint8_t(msg, 180); +} + +/** + * @brief Get field x from local_position_ned_cov message + * + * @return X Position + */ +static inline float mavlink_msg_local_position_ned_cov_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field y from local_position_ned_cov message + * + * @return Y Position + */ +static inline float mavlink_msg_local_position_ned_cov_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field z from local_position_ned_cov message + * + * @return Z Position + */ +static inline float mavlink_msg_local_position_ned_cov_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field vx from local_position_ned_cov message + * + * @return X Speed + */ +static inline float mavlink_msg_local_position_ned_cov_get_vx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field vy from local_position_ned_cov message + * + * @return Y Speed + */ +static inline float mavlink_msg_local_position_ned_cov_get_vy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field vz from local_position_ned_cov message + * + * @return Z Speed + */ +static inline float mavlink_msg_local_position_ned_cov_get_vz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field covariance from local_position_ned_cov message + * + * @return Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.) + */ +static inline uint16_t mavlink_msg_local_position_ned_cov_get_covariance(const mavlink_message_t* msg, float *covariance) +{ + return _MAV_RETURN_float_array(msg, covariance, 36, 36); +} + +/** + * @brief Decode a local_position_ned_cov message into a struct + * + * @param msg The message to decode + * @param local_position_ned_cov C-struct to decode the message contents into + */ +static inline void mavlink_msg_local_position_ned_cov_decode(const mavlink_message_t* msg, mavlink_local_position_ned_cov_t* local_position_ned_cov) +{ +#if MAVLINK_NEED_BYTE_SWAP + local_position_ned_cov->time_utc = mavlink_msg_local_position_ned_cov_get_time_utc(msg); + local_position_ned_cov->time_boot_ms = mavlink_msg_local_position_ned_cov_get_time_boot_ms(msg); + local_position_ned_cov->x = mavlink_msg_local_position_ned_cov_get_x(msg); + local_position_ned_cov->y = mavlink_msg_local_position_ned_cov_get_y(msg); + local_position_ned_cov->z = mavlink_msg_local_position_ned_cov_get_z(msg); + local_position_ned_cov->vx = mavlink_msg_local_position_ned_cov_get_vx(msg); + local_position_ned_cov->vy = mavlink_msg_local_position_ned_cov_get_vy(msg); + local_position_ned_cov->vz = mavlink_msg_local_position_ned_cov_get_vz(msg); + mavlink_msg_local_position_ned_cov_get_covariance(msg, local_position_ned_cov->covariance); + local_position_ned_cov->estimator_type = mavlink_msg_local_position_ned_cov_get_estimator_type(msg); +#else + memcpy(local_position_ned_cov, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN); +#endif +} |