145 lines
4.2 KiB
C
145 lines
4.2 KiB
C
// MESSAGE OBS_VELOCITY PACKING
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#define MAVLINK_MSG_ID_OBS_VELOCITY 172
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typedef struct __mavlink_obs_velocity_t
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{
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float vel[3]; ///< Velocity
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} mavlink_obs_velocity_t;
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#define MAVLINK_MSG_ID_OBS_VELOCITY_LEN 12
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#define MAVLINK_MSG_ID_172_LEN 12
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#define MAVLINK_MSG_OBS_VELOCITY_FIELD_VEL_LEN 3
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#define MAVLINK_MESSAGE_INFO_OBS_VELOCITY { \
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"OBS_VELOCITY", \
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1, \
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{ { "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 0, offsetof(mavlink_obs_velocity_t, vel) }, \
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} \
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}
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/**
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* @brief Pack a obs_velocity 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 vel Velocity
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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_obs_velocity_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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const float *vel)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[12];
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_mav_put_float_array(buf, 0, vel, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
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#else
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mavlink_obs_velocity_t packet;
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mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
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#endif
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msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY;
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return mavlink_finalize_message(msg, system_id, component_id, 12, 108);
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}
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/**
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* @brief Pack a obs_velocity 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 vel Velocity
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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_obs_velocity_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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const float *vel)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[12];
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_mav_put_float_array(buf, 0, vel, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 12);
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#else
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mavlink_obs_velocity_t packet;
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mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 12);
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#endif
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msg->msgid = MAVLINK_MSG_ID_OBS_VELOCITY;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 12, 108);
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}
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/**
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* @brief Encode a obs_velocity 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 obs_velocity C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_obs_velocity_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obs_velocity_t* obs_velocity)
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{
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return mavlink_msg_obs_velocity_pack(system_id, component_id, msg, obs_velocity->vel);
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}
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/**
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* @brief Send a obs_velocity message
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* @param chan MAVLink channel to send the message
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*
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* @param vel Velocity
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_obs_velocity_send(mavlink_channel_t chan, const float *vel)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[12];
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_mav_put_float_array(buf, 0, vel, 3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, buf, 12, 108);
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#else
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mavlink_obs_velocity_t packet;
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mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBS_VELOCITY, (const char *)&packet, 12, 108);
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#endif
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}
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#endif
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// MESSAGE OBS_VELOCITY UNPACKING
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/**
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* @brief Get field vel from obs_velocity message
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*
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* @return Velocity
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*/
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static inline uint16_t mavlink_msg_obs_velocity_get_vel(const mavlink_message_t* msg, float *vel)
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{
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return _MAV_RETURN_float_array(msg, vel, 3, 0);
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}
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/**
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* @brief Decode a obs_velocity message into a struct
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*
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* @param msg The message to decode
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* @param obs_velocity C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_obs_velocity_decode(const mavlink_message_t* msg, mavlink_obs_velocity_t* obs_velocity)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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mavlink_msg_obs_velocity_get_vel(msg, obs_velocity->vel);
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#else
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memcpy(obs_velocity, _MAV_PAYLOAD(msg), 12);
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#endif
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}
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