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author | Jakob Odersky <jodersky@gmail.com> | 2014-10-28 16:53:12 +0100 |
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committer | Jakob Odersky <jodersky@gmail.com> | 2014-10-28 16:53:41 +0100 |
commit | fe210f522d7a7e69419fb1a9ffdb946455fc7bc3 (patch) | |
tree | 659f9d72e31ceb765e6fdab59775d30614e53e15 /ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned.h | |
parent | fa91766c740a238d17b9cd556b34c8ee054486cb (diff) | |
download | maverick-fe210f522d7a7e69419fb1a9ffdb946455fc7bc3.tar.gz maverick-fe210f522d7a7e69419fb1a9ffdb946455fc7bc3.tar.bz2 maverick-fe210f522d7a7e69419fb1a9ffdb946455fc7bc3.zip |
use mavlink
Diffstat (limited to 'ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned.h')
-rw-r--r-- | ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned.h | 353 |
1 files changed, 353 insertions, 0 deletions
diff --git a/ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned.h b/ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned.h new file mode 100644 index 0000000..e18a948 --- /dev/null +++ b/ext/mavlink/include/mavlink/common/mavlink_msg_local_position_ned.h @@ -0,0 +1,353 @@ +// MESSAGE LOCAL_POSITION_NED PACKING + +#define MAVLINK_MSG_ID_LOCAL_POSITION_NED 32 + +typedef struct __mavlink_local_position_ned_t +{ + 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 +} mavlink_local_position_ned_t; + +#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN 28 +#define MAVLINK_MSG_ID_32_LEN 28 + +#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC 185 +#define MAVLINK_MSG_ID_32_CRC 185 + + + +#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \ + "LOCAL_POSITION_NED", \ + 7, \ + { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \ + { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \ + { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \ + { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \ + { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \ + { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \ + { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \ + } \ +} + + +/** + * @brief Pack a local_position_ned 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 x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#else + mavlink_local_position_ned_t packet; + 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; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC); +#else + return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif +} + +/** + * @brief Pack a local_position_ned 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 x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint32_t time_boot_ms,float x,float y,float z,float vx,float vy,float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#else + mavlink_local_position_ned_t packet; + 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; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif + + msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED; +#if MAVLINK_CRC_EXTRA + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC); +#else + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif +} + +/** + * @brief Encode a local_position_ned 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 C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned) +{ + return mavlink_msg_local_position_ned_pack(system_id, component_id, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz); +} + +/** + * @brief Encode a local_position_ned 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 C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_local_position_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned) +{ + return mavlink_msg_local_position_ned_pack_chan(system_id, component_id, chan, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz); +} + +/** + * @brief Send a local_position_ned message + * @param chan MAVLink channel to send the message + * + * @param time_boot_ms Timestamp (milliseconds since system boot) + * @param x X Position + * @param y Y Position + * @param z Z Position + * @param vx X Speed + * @param vy Y Speed + * @param vz Z Speed + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_local_position_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN]; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif +#else + mavlink_local_position_ned_t packet; + 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; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif +#endif +} + +#if MAVLINK_MSG_ID_LOCAL_POSITION_NED_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_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char *buf = (char *)msgbuf; + _mav_put_uint32_t(buf, 0, time_boot_ms); + _mav_put_float(buf, 4, x); + _mav_put_float(buf, 8, y); + _mav_put_float(buf, 12, z); + _mav_put_float(buf, 16, vx); + _mav_put_float(buf, 20, vy); + _mav_put_float(buf, 24, vz); + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif +#else + mavlink_local_position_ned_t *packet = (mavlink_local_position_ned_t *)msgbuf; + 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; + +#if MAVLINK_CRC_EXTRA + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC); +#else + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif +#endif +} +#endif + +#endif + +// MESSAGE LOCAL_POSITION_NED UNPACKING + + +/** + * @brief Get field time_boot_ms from local_position_ned message + * + * @return Timestamp (milliseconds since system boot) + */ +static inline uint32_t mavlink_msg_local_position_ned_get_time_boot_ms(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 0); +} + +/** + * @brief Get field x from local_position_ned message + * + * @return X Position + */ +static inline float mavlink_msg_local_position_ned_get_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 4); +} + +/** + * @brief Get field y from local_position_ned message + * + * @return Y Position + */ +static inline float mavlink_msg_local_position_ned_get_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 8); +} + +/** + * @brief Get field z from local_position_ned message + * + * @return Z Position + */ +static inline float mavlink_msg_local_position_ned_get_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field vx from local_position_ned message + * + * @return X Speed + */ +static inline float mavlink_msg_local_position_ned_get_vx(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field vy from local_position_ned message + * + * @return Y Speed + */ +static inline float mavlink_msg_local_position_ned_get_vy(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field vz from local_position_ned message + * + * @return Z Speed + */ +static inline float mavlink_msg_local_position_ned_get_vz(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Decode a local_position_ned message into a struct + * + * @param msg The message to decode + * @param local_position_ned C-struct to decode the message contents into + */ +static inline void mavlink_msg_local_position_ned_decode(const mavlink_message_t* msg, mavlink_local_position_ned_t* local_position_ned) +{ +#if MAVLINK_NEED_BYTE_SWAP + local_position_ned->time_boot_ms = mavlink_msg_local_position_ned_get_time_boot_ms(msg); + local_position_ned->x = mavlink_msg_local_position_ned_get_x(msg); + local_position_ned->y = mavlink_msg_local_position_ned_get_y(msg); + local_position_ned->z = mavlink_msg_local_position_ned_get_z(msg); + local_position_ned->vx = mavlink_msg_local_position_ned_get_vx(msg); + local_position_ned->vy = mavlink_msg_local_position_ned_get_vy(msg); + local_position_ned->vz = mavlink_msg_local_position_ned_get_vz(msg); +#else + memcpy(local_position_ned, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN); +#endif +} |