// 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_MSG_ID_IMAGE_TRIGGERED_CRC 86 #define MAVLINK_MSG_ID_152_CRC 86 #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[MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN]; _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, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); #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, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); #endif msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC); #else return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); #endif } /** * @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 will be 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[MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN]; _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, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); #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, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); #endif msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC); #else return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); #endif } /** * @brief Encode a image_triggered 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 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 Encode a image_triggered 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 image_triggered C-struct to read the message contents from */ static inline uint16_t mavlink_msg_image_triggered_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered) { return mavlink_msg_image_triggered_pack_chan(system_id, component_id, chan, 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[MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN]; _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); #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, buf, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, buf, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); #endif #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; #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, (const char *)&packet, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN, MAVLINK_MSG_ID_IMAGE_TRIGGERED_CRC); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, (const char *)&packet, MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); #endif #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), MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN); #endif }