387 lines
13 KiB
C
387 lines
13 KiB
C
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// MESSAGE IMAGE_TRIGGERED PACKING
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#define MAVLINK_MSG_ID_IMAGE_TRIGGERED 152
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typedef struct __mavlink_image_triggered_t
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{
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uint64_t timestamp; ///< Timestamp
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uint32_t seq; ///< IMU seq
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float roll; ///< Roll angle in rad
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float pitch; ///< Pitch angle in rad
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float yaw; ///< Yaw angle in rad
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float local_z; ///< Local frame Z coordinate (height over ground)
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float lat; ///< GPS X coordinate
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float lon; ///< GPS Y coordinate
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float alt; ///< Global frame altitude
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float ground_x; ///< Ground truth X
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float ground_y; ///< Ground truth Y
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float ground_z; ///< Ground truth Z
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} mavlink_image_triggered_t;
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#define MAVLINK_MSG_ID_IMAGE_TRIGGERED_LEN 52
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#define MAVLINK_MSG_ID_152_LEN 52
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#define MAVLINK_MESSAGE_INFO_IMAGE_TRIGGERED { \
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"IMAGE_TRIGGERED", \
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12, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_image_triggered_t, timestamp) }, \
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{ "seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 8, offsetof(mavlink_image_triggered_t, seq) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_image_triggered_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_image_triggered_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_image_triggered_t, yaw) }, \
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{ "local_z", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_image_triggered_t, local_z) }, \
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{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_image_triggered_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_image_triggered_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_image_triggered_t, alt) }, \
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{ "ground_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_image_triggered_t, ground_x) }, \
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{ "ground_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_image_triggered_t, ground_y) }, \
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{ "ground_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_image_triggered_t, ground_z) }, \
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} \
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}
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/**
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* @brief Pack a image_triggered message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param timestamp Timestamp
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* @param seq IMU seq
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* @param roll Roll angle in rad
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* @param pitch Pitch angle in rad
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* @param yaw Yaw angle in rad
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* @param local_z Local frame Z coordinate (height over ground)
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* @param lat GPS X coordinate
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* @param lon GPS Y coordinate
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* @param alt Global frame altitude
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* @param ground_x Ground truth X
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* @param ground_y Ground truth Y
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* @param ground_z Ground truth Z
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[52];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_uint32_t(buf, 8, seq);
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_mav_put_float(buf, 12, roll);
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_mav_put_float(buf, 16, pitch);
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_mav_put_float(buf, 20, yaw);
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_mav_put_float(buf, 24, local_z);
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_mav_put_float(buf, 28, lat);
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_mav_put_float(buf, 32, lon);
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_mav_put_float(buf, 36, alt);
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_mav_put_float(buf, 40, ground_x);
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_mav_put_float(buf, 44, ground_y);
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_mav_put_float(buf, 48, ground_z);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 52);
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#else
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mavlink_image_triggered_t packet;
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packet.timestamp = timestamp;
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packet.seq = seq;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.local_z = local_z;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.ground_x = ground_x;
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packet.ground_y = ground_y;
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packet.ground_z = ground_z;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 52);
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#endif
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msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
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return mavlink_finalize_message(msg, system_id, component_id, 52, 86);
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}
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/**
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* @brief Pack a image_triggered message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param timestamp Timestamp
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* @param seq IMU seq
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* @param roll Roll angle in rad
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* @param pitch Pitch angle in rad
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* @param yaw Yaw angle in rad
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* @param local_z Local frame Z coordinate (height over ground)
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* @param lat GPS X coordinate
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* @param lon GPS Y coordinate
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* @param alt Global frame altitude
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* @param ground_x Ground truth X
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* @param ground_y Ground truth Y
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* @param ground_z Ground truth Z
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[52];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_uint32_t(buf, 8, seq);
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_mav_put_float(buf, 12, roll);
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_mav_put_float(buf, 16, pitch);
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_mav_put_float(buf, 20, yaw);
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_mav_put_float(buf, 24, local_z);
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_mav_put_float(buf, 28, lat);
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_mav_put_float(buf, 32, lon);
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_mav_put_float(buf, 36, alt);
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_mav_put_float(buf, 40, ground_x);
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_mav_put_float(buf, 44, ground_y);
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_mav_put_float(buf, 48, ground_z);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 52);
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#else
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mavlink_image_triggered_t packet;
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packet.timestamp = timestamp;
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packet.seq = seq;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.local_z = local_z;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.ground_x = ground_x;
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packet.ground_y = ground_y;
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packet.ground_z = ground_z;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 52);
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#endif
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msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 52, 86);
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}
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/**
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* @brief Encode a image_triggered struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param image_triggered C-struct to read the message contents from
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*/
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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)
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{
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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);
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}
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/**
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* @brief Send a image_triggered message
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* @param chan MAVLink channel to send the message
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*
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* @param timestamp Timestamp
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* @param seq IMU seq
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* @param roll Roll angle in rad
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* @param pitch Pitch angle in rad
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* @param yaw Yaw angle in rad
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* @param local_z Local frame Z coordinate (height over ground)
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* @param lat GPS X coordinate
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* @param lon GPS Y coordinate
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* @param alt Global frame altitude
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* @param ground_x Ground truth X
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* @param ground_y Ground truth Y
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* @param ground_z Ground truth Z
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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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)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[52];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_uint32_t(buf, 8, seq);
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_mav_put_float(buf, 12, roll);
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_mav_put_float(buf, 16, pitch);
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_mav_put_float(buf, 20, yaw);
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_mav_put_float(buf, 24, local_z);
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_mav_put_float(buf, 28, lat);
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_mav_put_float(buf, 32, lon);
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_mav_put_float(buf, 36, alt);
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_mav_put_float(buf, 40, ground_x);
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_mav_put_float(buf, 44, ground_y);
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_mav_put_float(buf, 48, ground_z);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, buf, 52, 86);
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#else
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mavlink_image_triggered_t packet;
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packet.timestamp = timestamp;
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packet.seq = seq;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.local_z = local_z;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.ground_x = ground_x;
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packet.ground_y = ground_y;
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packet.ground_z = ground_z;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_TRIGGERED, (const char *)&packet, 52, 86);
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#endif
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}
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#endif
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// MESSAGE IMAGE_TRIGGERED UNPACKING
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/**
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* @brief Get field timestamp from image_triggered message
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*
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* @return Timestamp
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*/
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static inline uint64_t mavlink_msg_image_triggered_get_timestamp(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field seq from image_triggered message
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*
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* @return IMU seq
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*/
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static inline uint32_t mavlink_msg_image_triggered_get_seq(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 8);
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}
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/**
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* @brief Get field roll from image_triggered message
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*
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* @return Roll angle in rad
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*/
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static inline float mavlink_msg_image_triggered_get_roll(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field pitch from image_triggered message
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*
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* @return Pitch angle in rad
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*/
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static inline float mavlink_msg_image_triggered_get_pitch(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field yaw from image_triggered message
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*
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* @return Yaw angle in rad
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*/
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static inline float mavlink_msg_image_triggered_get_yaw(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field local_z from image_triggered message
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*
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* @return Local frame Z coordinate (height over ground)
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*/
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static inline float mavlink_msg_image_triggered_get_local_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Get field lat from image_triggered message
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*
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* @return GPS X coordinate
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*/
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static inline float mavlink_msg_image_triggered_get_lat(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 28);
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}
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/**
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* @brief Get field lon from image_triggered message
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*
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* @return GPS Y coordinate
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*/
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static inline float mavlink_msg_image_triggered_get_lon(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 32);
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}
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/**
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* @brief Get field alt from image_triggered message
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*
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* @return Global frame altitude
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*/
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static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 36);
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}
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/**
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* @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
|
||
|
|
}
|