1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
|
// MESSAGE VISION_SPEED_ESTIMATE PACKING
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 158
typedef struct __mavlink_vision_speed_estimate_t
{
uint64_t usec; ///< Timestamp (milliseconds)
float x; ///< Global X speed
float y; ///< Global Y speed
float z; ///< Global Z speed
} mavlink_vision_speed_estimate_t;
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 20
#define MAVLINK_MSG_ID_158_LEN 20
#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
"VISION_SPEED_ESTIMATE", \
4, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
} \
}
/**
* @brief Pack a vision_speed_estimate 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 usec Timestamp (milliseconds)
* @param x Global X speed
* @param y Global Y speed
* @param z Global Z speed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float x, float y, float z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
#else
mavlink_vision_speed_estimate_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
return mavlink_finalize_message(msg, system_id, component_id, 20);
}
/**
* @brief Pack a vision_speed_estimate 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 usec Timestamp (milliseconds)
* @param x Global X speed
* @param y Global Y speed
* @param z Global Z speed
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float x,float y,float z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 20);
#else
mavlink_vision_speed_estimate_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 20);
#endif
msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 20);
}
/**
* @brief Encode a vision_speed_estimate 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 vision_speed_estimate C-struct to read the message contents from
*/
static 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)
{
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);
}
/**
* @brief Send a vision_speed_estimate message
* @param chan MAVLink channel to send the message
*
* @param usec Timestamp (milliseconds)
* @param x Global X speed
* @param y Global Y speed
* @param z Global Z speed
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[20];
_mav_put_uint64_t(buf, 0, usec);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, 20);
#else
mavlink_vision_speed_estimate_t packet;
packet.usec = usec;
packet.x = x;
packet.y = y;
packet.z = z;
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)&packet, 20);
#endif
}
#endif
// MESSAGE VISION_SPEED_ESTIMATE UNPACKING
/**
* @brief Get field usec from vision_speed_estimate message
*
* @return Timestamp (milliseconds)
*/
static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field x from vision_speed_estimate message
*
* @return Global X speed
*/
static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field y from vision_speed_estimate message
*
* @return Global Y speed
*/
static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field z from vision_speed_estimate message
*
* @return Global Z speed
*/
static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Decode a vision_speed_estimate message into a struct
*
* @param msg The message to decode
* @param vision_speed_estimate C-struct to decode the message contents into
*/
static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate)
{
#if MAVLINK_NEED_BYTE_SWAP
vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg);
vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
#else
memcpy(vision_speed_estimate, _MAV_PAYLOAD(msg), 20);
#endif
}
|