439 lines
21 KiB
C
439 lines
21 KiB
C
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#pragma once
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// MESSAGE ESTIMATOR_STATUS PACKING
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#define MAVLINK_MSG_ID_ESTIMATOR_STATUS 230
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MAVPACKED(
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typedef struct __mavlink_estimator_status_t {
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uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
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float vel_ratio; /*< Velocity innovation test ratio*/
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float pos_horiz_ratio; /*< Horizontal position innovation test ratio*/
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float pos_vert_ratio; /*< Vertical position innovation test ratio*/
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float mag_ratio; /*< Magnetometer innovation test ratio*/
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float hagl_ratio; /*< Height above terrain innovation test ratio*/
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float tas_ratio; /*< True airspeed innovation test ratio*/
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float pos_horiz_accuracy; /*< [m] Horizontal position 1-STD accuracy relative to the EKF local origin*/
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float pos_vert_accuracy; /*< [m] Vertical position 1-STD accuracy relative to the EKF local origin*/
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uint16_t flags; /*< Bitmap indicating which EKF outputs are valid.*/
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}) mavlink_estimator_status_t;
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#define MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN 42
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#define MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN 42
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#define MAVLINK_MSG_ID_230_LEN 42
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#define MAVLINK_MSG_ID_230_MIN_LEN 42
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#define MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC 163
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#define MAVLINK_MSG_ID_230_CRC 163
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_ESTIMATOR_STATUS { \
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230, \
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"ESTIMATOR_STATUS", \
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10, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_estimator_status_t, time_usec) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_estimator_status_t, flags) }, \
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{ "vel_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_estimator_status_t, vel_ratio) }, \
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{ "pos_horiz_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_estimator_status_t, pos_horiz_ratio) }, \
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{ "pos_vert_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_estimator_status_t, pos_vert_ratio) }, \
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{ "mag_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_estimator_status_t, mag_ratio) }, \
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{ "hagl_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_estimator_status_t, hagl_ratio) }, \
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{ "tas_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_estimator_status_t, tas_ratio) }, \
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{ "pos_horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_estimator_status_t, pos_horiz_accuracy) }, \
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{ "pos_vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_estimator_status_t, pos_vert_accuracy) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_ESTIMATOR_STATUS { \
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"ESTIMATOR_STATUS", \
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10, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_estimator_status_t, time_usec) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_estimator_status_t, flags) }, \
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{ "vel_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_estimator_status_t, vel_ratio) }, \
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{ "pos_horiz_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_estimator_status_t, pos_horiz_ratio) }, \
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{ "pos_vert_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_estimator_status_t, pos_vert_ratio) }, \
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{ "mag_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_estimator_status_t, mag_ratio) }, \
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{ "hagl_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_estimator_status_t, hagl_ratio) }, \
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{ "tas_ratio", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_estimator_status_t, tas_ratio) }, \
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{ "pos_horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_estimator_status_t, pos_horiz_accuracy) }, \
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{ "pos_vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_estimator_status_t, pos_vert_accuracy) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a estimator_status 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 time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param flags Bitmap indicating which EKF outputs are valid.
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* @param vel_ratio Velocity innovation test ratio
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* @param pos_horiz_ratio Horizontal position innovation test ratio
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* @param pos_vert_ratio Vertical position innovation test ratio
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* @param mag_ratio Magnetometer innovation test ratio
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* @param hagl_ratio Height above terrain innovation test ratio
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* @param tas_ratio True airspeed innovation test ratio
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* @param pos_horiz_accuracy [m] Horizontal position 1-STD accuracy relative to the EKF local origin
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* @param pos_vert_accuracy [m] Vertical position 1-STD accuracy relative to the EKF local origin
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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_estimator_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint16_t flags, float vel_ratio, float pos_horiz_ratio, float pos_vert_ratio, float mag_ratio, float hagl_ratio, float tas_ratio, float pos_horiz_accuracy, float pos_vert_accuracy)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, vel_ratio);
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_mav_put_float(buf, 12, pos_horiz_ratio);
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_mav_put_float(buf, 16, pos_vert_ratio);
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_mav_put_float(buf, 20, mag_ratio);
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_mav_put_float(buf, 24, hagl_ratio);
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_mav_put_float(buf, 28, tas_ratio);
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_mav_put_float(buf, 32, pos_horiz_accuracy);
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_mav_put_float(buf, 36, pos_vert_accuracy);
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_mav_put_uint16_t(buf, 40, flags);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
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#else
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mavlink_estimator_status_t packet;
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packet.time_usec = time_usec;
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packet.vel_ratio = vel_ratio;
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packet.pos_horiz_ratio = pos_horiz_ratio;
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packet.pos_vert_ratio = pos_vert_ratio;
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packet.mag_ratio = mag_ratio;
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packet.hagl_ratio = hagl_ratio;
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packet.tas_ratio = tas_ratio;
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packet.pos_horiz_accuracy = pos_horiz_accuracy;
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packet.pos_vert_accuracy = pos_vert_accuracy;
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packet.flags = flags;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ESTIMATOR_STATUS;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
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}
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/**
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* @brief Pack a estimator_status 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 will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param flags Bitmap indicating which EKF outputs are valid.
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* @param vel_ratio Velocity innovation test ratio
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* @param pos_horiz_ratio Horizontal position innovation test ratio
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* @param pos_vert_ratio Vertical position innovation test ratio
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* @param mag_ratio Magnetometer innovation test ratio
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* @param hagl_ratio Height above terrain innovation test ratio
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* @param tas_ratio True airspeed innovation test ratio
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* @param pos_horiz_accuracy [m] Horizontal position 1-STD accuracy relative to the EKF local origin
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* @param pos_vert_accuracy [m] Vertical position 1-STD accuracy relative to the EKF local origin
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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_estimator_status_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 time_usec,uint16_t flags,float vel_ratio,float pos_horiz_ratio,float pos_vert_ratio,float mag_ratio,float hagl_ratio,float tas_ratio,float pos_horiz_accuracy,float pos_vert_accuracy)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, vel_ratio);
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_mav_put_float(buf, 12, pos_horiz_ratio);
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_mav_put_float(buf, 16, pos_vert_ratio);
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_mav_put_float(buf, 20, mag_ratio);
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_mav_put_float(buf, 24, hagl_ratio);
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_mav_put_float(buf, 28, tas_ratio);
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_mav_put_float(buf, 32, pos_horiz_accuracy);
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_mav_put_float(buf, 36, pos_vert_accuracy);
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_mav_put_uint16_t(buf, 40, flags);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
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#else
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mavlink_estimator_status_t packet;
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packet.time_usec = time_usec;
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packet.vel_ratio = vel_ratio;
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packet.pos_horiz_ratio = pos_horiz_ratio;
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packet.pos_vert_ratio = pos_vert_ratio;
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packet.mag_ratio = mag_ratio;
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packet.hagl_ratio = hagl_ratio;
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packet.tas_ratio = tas_ratio;
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packet.pos_horiz_accuracy = pos_horiz_accuracy;
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packet.pos_vert_accuracy = pos_vert_accuracy;
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packet.flags = flags;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ESTIMATOR_STATUS;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
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}
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/**
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* @brief Encode a estimator_status struct
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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 estimator_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_estimator_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_estimator_status_t* estimator_status)
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{
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return mavlink_msg_estimator_status_pack(system_id, component_id, msg, estimator_status->time_usec, estimator_status->flags, estimator_status->vel_ratio, estimator_status->pos_horiz_ratio, estimator_status->pos_vert_ratio, estimator_status->mag_ratio, estimator_status->hagl_ratio, estimator_status->tas_ratio, estimator_status->pos_horiz_accuracy, estimator_status->pos_vert_accuracy);
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}
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/**
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* @brief Encode a estimator_status struct on a channel
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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 chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param estimator_status C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_estimator_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_estimator_status_t* estimator_status)
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{
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return mavlink_msg_estimator_status_pack_chan(system_id, component_id, chan, msg, estimator_status->time_usec, estimator_status->flags, estimator_status->vel_ratio, estimator_status->pos_horiz_ratio, estimator_status->pos_vert_ratio, estimator_status->mag_ratio, estimator_status->hagl_ratio, estimator_status->tas_ratio, estimator_status->pos_horiz_accuracy, estimator_status->pos_vert_accuracy);
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}
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/**
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* @brief Send a estimator_status message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param flags Bitmap indicating which EKF outputs are valid.
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* @param vel_ratio Velocity innovation test ratio
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* @param pos_horiz_ratio Horizontal position innovation test ratio
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* @param pos_vert_ratio Vertical position innovation test ratio
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* @param mag_ratio Magnetometer innovation test ratio
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* @param hagl_ratio Height above terrain innovation test ratio
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* @param tas_ratio True airspeed innovation test ratio
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* @param pos_horiz_accuracy [m] Horizontal position 1-STD accuracy relative to the EKF local origin
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* @param pos_vert_accuracy [m] Vertical position 1-STD accuracy relative to the EKF local origin
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_estimator_status_send(mavlink_channel_t chan, uint64_t time_usec, uint16_t flags, float vel_ratio, float pos_horiz_ratio, float pos_vert_ratio, float mag_ratio, float hagl_ratio, float tas_ratio, float pos_horiz_accuracy, float pos_vert_accuracy)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, vel_ratio);
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_mav_put_float(buf, 12, pos_horiz_ratio);
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_mav_put_float(buf, 16, pos_vert_ratio);
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_mav_put_float(buf, 20, mag_ratio);
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_mav_put_float(buf, 24, hagl_ratio);
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_mav_put_float(buf, 28, tas_ratio);
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_mav_put_float(buf, 32, pos_horiz_accuracy);
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_mav_put_float(buf, 36, pos_vert_accuracy);
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_mav_put_uint16_t(buf, 40, flags);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
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#else
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mavlink_estimator_status_t packet;
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packet.time_usec = time_usec;
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packet.vel_ratio = vel_ratio;
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packet.pos_horiz_ratio = pos_horiz_ratio;
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packet.pos_vert_ratio = pos_vert_ratio;
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packet.mag_ratio = mag_ratio;
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packet.hagl_ratio = hagl_ratio;
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packet.tas_ratio = tas_ratio;
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packet.pos_horiz_accuracy = pos_horiz_accuracy;
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packet.pos_vert_accuracy = pos_vert_accuracy;
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packet.flags = flags;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, (const char *)&packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
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#endif
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}
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/**
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* @brief Send a estimator_status message
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* @param chan MAVLink channel to send the message
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|
* @param struct The MAVLink struct to serialize
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_estimator_status_send_struct(mavlink_channel_t chan, const mavlink_estimator_status_t* estimator_status)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
mavlink_msg_estimator_status_send(chan, estimator_status->time_usec, estimator_status->flags, estimator_status->vel_ratio, estimator_status->pos_horiz_ratio, estimator_status->pos_vert_ratio, estimator_status->mag_ratio, estimator_status->hagl_ratio, estimator_status->tas_ratio, estimator_status->pos_horiz_accuracy, estimator_status->pos_vert_accuracy);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, (const char *)estimator_status, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if MAVLINK_MSG_ID_ESTIMATOR_STATUS_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_estimator_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint16_t flags, float vel_ratio, float pos_horiz_ratio, float pos_vert_ratio, float mag_ratio, float hagl_ratio, float tas_ratio, float pos_horiz_accuracy, float pos_vert_accuracy)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_uint64_t(buf, 0, time_usec);
|
||
|
|
_mav_put_float(buf, 8, vel_ratio);
|
||
|
|
_mav_put_float(buf, 12, pos_horiz_ratio);
|
||
|
|
_mav_put_float(buf, 16, pos_vert_ratio);
|
||
|
|
_mav_put_float(buf, 20, mag_ratio);
|
||
|
|
_mav_put_float(buf, 24, hagl_ratio);
|
||
|
|
_mav_put_float(buf, 28, tas_ratio);
|
||
|
|
_mav_put_float(buf, 32, pos_horiz_accuracy);
|
||
|
|
_mav_put_float(buf, 36, pos_vert_accuracy);
|
||
|
|
_mav_put_uint16_t(buf, 40, flags);
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, buf, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
|
||
|
|
#else
|
||
|
|
mavlink_estimator_status_t *packet = (mavlink_estimator_status_t *)msgbuf;
|
||
|
|
packet->time_usec = time_usec;
|
||
|
|
packet->vel_ratio = vel_ratio;
|
||
|
|
packet->pos_horiz_ratio = pos_horiz_ratio;
|
||
|
|
packet->pos_vert_ratio = pos_vert_ratio;
|
||
|
|
packet->mag_ratio = mag_ratio;
|
||
|
|
packet->hagl_ratio = hagl_ratio;
|
||
|
|
packet->tas_ratio = tas_ratio;
|
||
|
|
packet->pos_horiz_accuracy = pos_horiz_accuracy;
|
||
|
|
packet->pos_vert_accuracy = pos_vert_accuracy;
|
||
|
|
packet->flags = flags;
|
||
|
|
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ESTIMATOR_STATUS, (const char *)packet, MAVLINK_MSG_ID_ESTIMATOR_STATUS_MIN_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN, MAVLINK_MSG_ID_ESTIMATOR_STATUS_CRC);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE ESTIMATOR_STATUS UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field time_usec from estimator_status message
|
||
|
|
*
|
||
|
|
* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
|
||
|
|
*/
|
||
|
|
static inline uint64_t mavlink_msg_estimator_status_get_time_usec(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint64_t(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field flags from estimator_status message
|
||
|
|
*
|
||
|
|
* @return Bitmap indicating which EKF outputs are valid.
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_estimator_status_get_flags(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint16_t(msg, 40);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field vel_ratio from estimator_status message
|
||
|
|
*
|
||
|
|
* @return Velocity innovation test ratio
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_estimator_status_get_vel_ratio(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field pos_horiz_ratio from estimator_status message
|
||
|
|
*
|
||
|
|
* @return Horizontal position innovation test ratio
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_estimator_status_get_pos_horiz_ratio(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 12);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field pos_vert_ratio from estimator_status message
|
||
|
|
*
|
||
|
|
* @return Vertical position innovation test ratio
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_estimator_status_get_pos_vert_ratio(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 16);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field mag_ratio from estimator_status message
|
||
|
|
*
|
||
|
|
* @return Magnetometer innovation test ratio
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_estimator_status_get_mag_ratio(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 20);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field hagl_ratio from estimator_status message
|
||
|
|
*
|
||
|
|
* @return Height above terrain innovation test ratio
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_estimator_status_get_hagl_ratio(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 24);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field tas_ratio from estimator_status message
|
||
|
|
*
|
||
|
|
* @return True airspeed innovation test ratio
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_estimator_status_get_tas_ratio(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 28);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field pos_horiz_accuracy from estimator_status message
|
||
|
|
*
|
||
|
|
* @return [m] Horizontal position 1-STD accuracy relative to the EKF local origin
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_estimator_status_get_pos_horiz_accuracy(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 32);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field pos_vert_accuracy from estimator_status message
|
||
|
|
*
|
||
|
|
* @return [m] Vertical position 1-STD accuracy relative to the EKF local origin
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_estimator_status_get_pos_vert_accuracy(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 36);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a estimator_status message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param estimator_status C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_estimator_status_decode(const mavlink_message_t* msg, mavlink_estimator_status_t* estimator_status)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
estimator_status->time_usec = mavlink_msg_estimator_status_get_time_usec(msg);
|
||
|
|
estimator_status->vel_ratio = mavlink_msg_estimator_status_get_vel_ratio(msg);
|
||
|
|
estimator_status->pos_horiz_ratio = mavlink_msg_estimator_status_get_pos_horiz_ratio(msg);
|
||
|
|
estimator_status->pos_vert_ratio = mavlink_msg_estimator_status_get_pos_vert_ratio(msg);
|
||
|
|
estimator_status->mag_ratio = mavlink_msg_estimator_status_get_mag_ratio(msg);
|
||
|
|
estimator_status->hagl_ratio = mavlink_msg_estimator_status_get_hagl_ratio(msg);
|
||
|
|
estimator_status->tas_ratio = mavlink_msg_estimator_status_get_tas_ratio(msg);
|
||
|
|
estimator_status->pos_horiz_accuracy = mavlink_msg_estimator_status_get_pos_horiz_accuracy(msg);
|
||
|
|
estimator_status->pos_vert_accuracy = mavlink_msg_estimator_status_get_pos_vert_accuracy(msg);
|
||
|
|
estimator_status->flags = mavlink_msg_estimator_status_get_flags(msg);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN? msg->len : MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN;
|
||
|
|
memset(estimator_status, 0, MAVLINK_MSG_ID_ESTIMATOR_STATUS_LEN);
|
||
|
|
memcpy(estimator_status, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|