diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h | 386 |
1 files changed, 386 insertions, 0 deletions
diff --git a/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h new file mode 100644 index 000000000..557d748e1 --- /dev/null +++ b/mavlink/include/mavlink/v1.0/pixhawk/mavlink_msg_image_triggered.h @@ -0,0 +1,386 @@ +// MESSAGE IMAGE_TRIGGERED PACKING + +#define MAVLINK_MSG_ID_IMAGE_TRIGGERED 152 + +typedef struct __mavlink_image_triggered_t +{ + uint64_t timestamp; ///< Timestamp + uint32_t seq; ///< IMU seq + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad + float local_z; ///< Local frame Z coordinate (height over ground) + float lat; ///< GPS X coordinate + float lon; ///< GPS Y coordinate + float alt; ///< Global frame altitude + float ground_x; ///< Ground truth X + float ground_y; ///< Ground truth Y + float ground_z; ///< Ground truth Z +} mavlink_image_triggered_t; + +#define MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN 52 +#define MAVLINK_MSG_ID_152_LEN 52 + + + +#define MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED { \ + "IMAGE_TRIGGERED", \ + 12, \ + { { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_image_triggered_t, timestamp) }, \ + { "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_image_triggered_t, seq) }, \ + { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_image_triggered_t, roll) }, \ + { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_image_triggered_t, pitch) }, \ + { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_image_triggered_t, yaw) }, \ + { "local_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_image_triggered_t, local_z) }, \ + { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_image_triggered_t, lat) }, \ + { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_image_triggered_t, lon) }, \ + { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_image_triggered_t, alt) }, \ + { "ground_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_image_triggered_t, ground_x) }, \ + { "ground_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_image_triggered_t, ground_y) }, \ + { "ground_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_image_triggered_t, ground_z) }, \ + } \ +} + + +/** + * @brief Pack a image_triggered 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 timestamp Timestamp + * @param seq IMU seq + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, + uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[52]; + _mav_put_uint64_t(buf, 0, timestamp); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_float(buf, 24, local_z); + _mav_put_float(buf, 28, lat); + _mav_put_float(buf, 32, lon); + _mav_put_float(buf, 36, alt); + _mav_put_float(buf, 40, ground_x); + _mav_put_float(buf, 44, ground_y); + _mav_put_float(buf, 48, ground_z); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 52); +#else + mavlink_image_triggered_t packet; + packet.timestamp = timestamp; + packet.seq = seq; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 52); +#endif + + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; + return mavlink_finalize_message(msg, system_id, component_id, 52, 86); +} + +/** + * @brief Pack a image_triggered 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 was sent over + * @param msg The MAVLink message to compress the data into + * @param timestamp Timestamp + * @param seq IMU seq + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, + mavlink_message_t* msg, + uint64_t timestamp,uint32_t seq,float roll,float pitch,float yaw,float local_z,float lat,float lon,float alt,float ground_x,float ground_y,float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[52]; + _mav_put_uint64_t(buf, 0, timestamp); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_float(buf, 24, local_z); + _mav_put_float(buf, 28, lat); + _mav_put_float(buf, 32, lon); + _mav_put_float(buf, 36, alt); + _mav_put_float(buf, 40, ground_x); + _mav_put_float(buf, 44, ground_y); + _mav_put_float(buf, 48, ground_z); + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 52); +#else + mavlink_image_triggered_t packet; + packet.timestamp = timestamp; + packet.seq = seq; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 52); +#endif + + msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 52, 86); +} + +/** + * @brief Encode a image_triggered struct into a 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 image_triggered C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered) +{ + return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt, image_triggered->ground_x, image_triggered->ground_y, image_triggered->ground_z); +} + +/** + * @brief Send a image_triggered message + * @param chan MAVLink channel to send the message + * + * @param timestamp Timestamp + * @param seq IMU seq + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ +#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS + char buf[52]; + _mav_put_uint64_t(buf, 0, timestamp); + _mav_put_uint32_t(buf, 8, seq); + _mav_put_float(buf, 12, roll); + _mav_put_float(buf, 16, pitch); + _mav_put_float(buf, 20, yaw); + _mav_put_float(buf, 24, local_z); + _mav_put_float(buf, 28, lat); + _mav_put_float(buf, 32, lon); + _mav_put_float(buf, 36, alt); + _mav_put_float(buf, 40, ground_x); + _mav_put_float(buf, 44, ground_y); + _mav_put_float(buf, 48, ground_z); + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, buf, 52, 86); +#else + mavlink_image_triggered_t packet; + packet.timestamp = timestamp; + packet.seq = seq; + packet.roll = roll; + packet.pitch = pitch; + packet.yaw = yaw; + packet.local_z = local_z; + packet.lat = lat; + packet.lon = lon; + packet.alt = alt; + packet.ground_x = ground_x; + packet.ground_y = ground_y; + packet.ground_z = ground_z; + + _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, (const char *)&packet, 52, 86); +#endif +} + +#endif + +// MESSAGE IMAGE_TRIGGERED UNPACKING + + +/** + * @brief Get field timestamp from image_triggered message + * + * @return Timestamp + */ +static inline uint64_t mavlink_msg_image_triggered_get_timestamp(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint64_t(msg, 0); +} + +/** + * @brief Get field seq from image_triggered message + * + * @return IMU seq + */ +static inline uint32_t mavlink_msg_image_triggered_get_seq(const mavlink_message_t* msg) +{ + return _MAV_RETURN_uint32_t(msg, 8); +} + +/** + * @brief Get field roll from image_triggered message + * + * @return Roll angle in rad + */ +static inline float mavlink_msg_image_triggered_get_roll(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 12); +} + +/** + * @brief Get field pitch from image_triggered message + * + * @return Pitch angle in rad + */ +static inline float mavlink_msg_image_triggered_get_pitch(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 16); +} + +/** + * @brief Get field yaw from image_triggered message + * + * @return Yaw angle in rad + */ +static inline float mavlink_msg_image_triggered_get_yaw(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 20); +} + +/** + * @brief Get field local_z from image_triggered message + * + * @return Local frame Z coordinate (height over ground) + */ +static inline float mavlink_msg_image_triggered_get_local_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 24); +} + +/** + * @brief Get field lat from image_triggered message + * + * @return GPS X coordinate + */ +static inline float mavlink_msg_image_triggered_get_lat(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 28); +} + +/** + * @brief Get field lon from image_triggered message + * + * @return GPS Y coordinate + */ +static inline float mavlink_msg_image_triggered_get_lon(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 32); +} + +/** + * @brief Get field alt from image_triggered message + * + * @return Global frame altitude + */ +static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 36); +} + +/** + * @brief Get field ground_x from image_triggered message + * + * @return Ground truth X + */ +static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 40); +} + +/** + * @brief Get field ground_y from image_triggered message + * + * @return Ground truth Y + */ +static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 44); +} + +/** + * @brief Get field ground_z from image_triggered message + * + * @return Ground truth Z + */ +static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_message_t* msg) +{ + return _MAV_RETURN_float(msg, 48); +} + +/** + * @brief Decode a image_triggered message into a struct + * + * @param msg The message to decode + * @param image_triggered C-struct to decode the message contents into + */ +static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* msg, mavlink_image_triggered_t* image_triggered) +{ +#if MAVLINK_NEED_BYTE_SWAP + image_triggered->timestamp = mavlink_msg_image_triggered_get_timestamp(msg); + image_triggered->seq = mavlink_msg_image_triggered_get_seq(msg); + image_triggered->roll = mavlink_msg_image_triggered_get_roll(msg); + image_triggered->pitch = mavlink_msg_image_triggered_get_pitch(msg); + image_triggered->yaw = mavlink_msg_image_triggered_get_yaw(msg); + image_triggered->local_z = mavlink_msg_image_triggered_get_local_z(msg); + image_triggered->lat = mavlink_msg_image_triggered_get_lat(msg); + image_triggered->lon = mavlink_msg_image_triggered_get_lon(msg); + image_triggered->alt = mavlink_msg_image_triggered_get_alt(msg); + image_triggered->ground_x = mavlink_msg_image_triggered_get_ground_x(msg); + image_triggered->ground_y = mavlink_msg_image_triggered_get_ground_y(msg); + image_triggered->ground_z = mavlink_msg_image_triggered_get_ground_z(msg); +#else + memcpy(image_triggered, _MAV_PAYLOAD(msg), 52); +#endif +} |