1dff1bfd33
【原 因】：更全更新 【过 程】： 【影 响】： # 类型 包含: # feat：新功能（feature） # fix：修补bug # docs：文档（documentation） # style： 格式（不影响代码运行的变动） # refactor：重构（即不是新增功能，也不是修改bug的代码变动） # test：增加测试 # chore：构建过程或辅助工具的变动
514 lines
21 KiB
C
514 lines
21 KiB
C
#pragma once
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// MESSAGE CAMERA_FEEDBACK PACKING
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#define MAVLINK_MSG_ID_CAMERA_FEEDBACK 180
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MAVPACKED(
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typedef struct __mavlink_camera_feedback_t {
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uint64_t time_usec; /*< [us] Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).*/
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int32_t lat; /*< [degE7] Latitude.*/
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int32_t lng; /*< [degE7] Longitude.*/
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float alt_msl; /*< [m] Altitude (MSL).*/
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float alt_rel; /*< [m] Altitude (Relative to HOME location).*/
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float roll; /*< [deg] Camera Roll angle (earth frame, +-180).*/
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float pitch; /*< [deg] Camera Pitch angle (earth frame, +-180).*/
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float yaw; /*< [deg] Camera Yaw (earth frame, 0-360, true).*/
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float foc_len; /*< [mm] Focal Length.*/
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uint16_t img_idx; /*< Image index.*/
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uint8_t target_system; /*< System ID.*/
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uint8_t cam_idx; /*< Camera ID.*/
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uint8_t flags; /*< Feedback flags.*/
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}) mavlink_camera_feedback_t;
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#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN 45
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#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN 45
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#define MAVLINK_MSG_ID_180_LEN 45
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#define MAVLINK_MSG_ID_180_MIN_LEN 45
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#define MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC 52
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#define MAVLINK_MSG_ID_180_CRC 52
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_CAMERA_FEEDBACK { \
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180, \
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"CAMERA_FEEDBACK", \
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13, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_feedback_t, time_usec) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_camera_feedback_t, target_system) }, \
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{ "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_camera_feedback_t, cam_idx) }, \
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{ "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_camera_feedback_t, img_idx) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_camera_feedback_t, lat) }, \
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{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_camera_feedback_t, lng) }, \
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{ "alt_msl", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_feedback_t, alt_msl) }, \
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{ "alt_rel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_feedback_t, alt_rel) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_camera_feedback_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_camera_feedback_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_camera_feedback_t, yaw) }, \
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{ "foc_len", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_camera_feedback_t, foc_len) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 44, offsetof(mavlink_camera_feedback_t, flags) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_CAMERA_FEEDBACK { \
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"CAMERA_FEEDBACK", \
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13, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_feedback_t, time_usec) }, \
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{ "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_camera_feedback_t, target_system) }, \
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{ "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_camera_feedback_t, cam_idx) }, \
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{ "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_camera_feedback_t, img_idx) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_camera_feedback_t, lat) }, \
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{ "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_camera_feedback_t, lng) }, \
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{ "alt_msl", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_feedback_t, alt_msl) }, \
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{ "alt_rel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_feedback_t, alt_rel) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_camera_feedback_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_camera_feedback_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_camera_feedback_t, yaw) }, \
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{ "foc_len", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_camera_feedback_t, foc_len) }, \
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{ "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 44, offsetof(mavlink_camera_feedback_t, flags) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a camera_feedback 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] Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
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* @param target_system System ID.
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* @param cam_idx Camera ID.
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* @param img_idx Image index.
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* @param lat [degE7] Latitude.
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* @param lng [degE7] Longitude.
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* @param alt_msl [m] Altitude (MSL).
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* @param alt_rel [m] Altitude (Relative to HOME location).
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* @param roll [deg] Camera Roll angle (earth frame, +-180).
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* @param pitch [deg] Camera Pitch angle (earth frame, +-180).
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* @param yaw [deg] Camera Yaw (earth frame, 0-360, true).
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* @param foc_len [mm] Focal Length.
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* @param flags Feedback flags.
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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_camera_feedback_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
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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_CAMERA_FEEDBACK_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_int32_t(buf, 8, lat);
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_mav_put_int32_t(buf, 12, lng);
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_mav_put_float(buf, 16, alt_msl);
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_mav_put_float(buf, 20, alt_rel);
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_mav_put_float(buf, 24, roll);
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_mav_put_float(buf, 28, pitch);
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_mav_put_float(buf, 32, yaw);
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_mav_put_float(buf, 36, foc_len);
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_mav_put_uint16_t(buf, 40, img_idx);
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_mav_put_uint8_t(buf, 42, target_system);
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_mav_put_uint8_t(buf, 43, cam_idx);
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_mav_put_uint8_t(buf, 44, flags);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
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#else
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mavlink_camera_feedback_t packet;
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packet.time_usec = time_usec;
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packet.lat = lat;
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packet.lng = lng;
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packet.alt_msl = alt_msl;
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packet.alt_rel = alt_rel;
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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.foc_len = foc_len;
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packet.img_idx = img_idx;
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packet.target_system = target_system;
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packet.cam_idx = cam_idx;
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packet.flags = flags;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CAMERA_FEEDBACK;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
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}
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/**
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* @brief Pack a camera_feedback 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] Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
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* @param target_system System ID.
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* @param cam_idx Camera ID.
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* @param img_idx Image index.
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* @param lat [degE7] Latitude.
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* @param lng [degE7] Longitude.
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* @param alt_msl [m] Altitude (MSL).
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* @param alt_rel [m] Altitude (Relative to HOME location).
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* @param roll [deg] Camera Roll angle (earth frame, +-180).
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* @param pitch [deg] Camera Pitch angle (earth frame, +-180).
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* @param yaw [deg] Camera Yaw (earth frame, 0-360, true).
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* @param foc_len [mm] Focal Length.
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* @param flags Feedback flags.
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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_camera_feedback_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,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,int32_t lat,int32_t lng,float alt_msl,float alt_rel,float roll,float pitch,float yaw,float foc_len,uint8_t flags)
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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_CAMERA_FEEDBACK_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_int32_t(buf, 8, lat);
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_mav_put_int32_t(buf, 12, lng);
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_mav_put_float(buf, 16, alt_msl);
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_mav_put_float(buf, 20, alt_rel);
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_mav_put_float(buf, 24, roll);
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_mav_put_float(buf, 28, pitch);
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_mav_put_float(buf, 32, yaw);
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_mav_put_float(buf, 36, foc_len);
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_mav_put_uint16_t(buf, 40, img_idx);
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_mav_put_uint8_t(buf, 42, target_system);
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_mav_put_uint8_t(buf, 43, cam_idx);
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_mav_put_uint8_t(buf, 44, flags);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
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#else
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mavlink_camera_feedback_t packet;
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packet.time_usec = time_usec;
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packet.lat = lat;
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packet.lng = lng;
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packet.alt_msl = alt_msl;
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packet.alt_rel = alt_rel;
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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.foc_len = foc_len;
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packet.img_idx = img_idx;
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packet.target_system = target_system;
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packet.cam_idx = cam_idx;
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packet.flags = flags;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_CAMERA_FEEDBACK;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
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}
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/**
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* @brief Encode a camera_feedback 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 camera_feedback C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_camera_feedback_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback)
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{
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return mavlink_msg_camera_feedback_pack(system_id, component_id, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt_msl, camera_feedback->alt_rel, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
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}
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/**
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* @brief Encode a camera_feedback 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 camera_feedback C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_camera_feedback_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback)
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{
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return mavlink_msg_camera_feedback_pack_chan(system_id, component_id, chan, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt_msl, camera_feedback->alt_rel, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
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}
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/**
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* @brief Send a camera_feedback 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] Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
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* @param target_system System ID.
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* @param cam_idx Camera ID.
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* @param img_idx Image index.
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* @param lat [degE7] Latitude.
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* @param lng [degE7] Longitude.
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* @param alt_msl [m] Altitude (MSL).
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* @param alt_rel [m] Altitude (Relative to HOME location).
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* @param roll [deg] Camera Roll angle (earth frame, +-180).
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* @param pitch [deg] Camera Pitch angle (earth frame, +-180).
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* @param yaw [deg] Camera Yaw (earth frame, 0-360, true).
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* @param foc_len [mm] Focal Length.
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* @param flags Feedback flags.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_camera_feedback_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
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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_CAMERA_FEEDBACK_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_int32_t(buf, 8, lat);
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_mav_put_int32_t(buf, 12, lng);
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_mav_put_float(buf, 16, alt_msl);
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_mav_put_float(buf, 20, alt_rel);
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_mav_put_float(buf, 24, roll);
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_mav_put_float(buf, 28, pitch);
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_mav_put_float(buf, 32, yaw);
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_mav_put_float(buf, 36, foc_len);
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_mav_put_uint16_t(buf, 40, img_idx);
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_mav_put_uint8_t(buf, 42, target_system);
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_mav_put_uint8_t(buf, 43, cam_idx);
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_mav_put_uint8_t(buf, 44, flags);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
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#else
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mavlink_camera_feedback_t packet;
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packet.time_usec = time_usec;
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packet.lat = lat;
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packet.lng = lng;
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packet.alt_msl = alt_msl;
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packet.alt_rel = alt_rel;
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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.foc_len = foc_len;
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packet.img_idx = img_idx;
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packet.target_system = target_system;
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packet.cam_idx = cam_idx;
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packet.flags = flags;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
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#endif
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}
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/**
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* @brief Send a camera_feedback message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_camera_feedback_send_struct(mavlink_channel_t chan, const mavlink_camera_feedback_t* camera_feedback)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_camera_feedback_send(chan, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt_msl, camera_feedback->alt_rel, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)camera_feedback, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_camera_feedback_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint64_t(buf, 0, time_usec);
|
|
_mav_put_int32_t(buf, 8, lat);
|
|
_mav_put_int32_t(buf, 12, lng);
|
|
_mav_put_float(buf, 16, alt_msl);
|
|
_mav_put_float(buf, 20, alt_rel);
|
|
_mav_put_float(buf, 24, roll);
|
|
_mav_put_float(buf, 28, pitch);
|
|
_mav_put_float(buf, 32, yaw);
|
|
_mav_put_float(buf, 36, foc_len);
|
|
_mav_put_uint16_t(buf, 40, img_idx);
|
|
_mav_put_uint8_t(buf, 42, target_system);
|
|
_mav_put_uint8_t(buf, 43, cam_idx);
|
|
_mav_put_uint8_t(buf, 44, flags);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
|
|
#else
|
|
mavlink_camera_feedback_t *packet = (mavlink_camera_feedback_t *)msgbuf;
|
|
packet->time_usec = time_usec;
|
|
packet->lat = lat;
|
|
packet->lng = lng;
|
|
packet->alt_msl = alt_msl;
|
|
packet->alt_rel = alt_rel;
|
|
packet->roll = roll;
|
|
packet->pitch = pitch;
|
|
packet->yaw = yaw;
|
|
packet->foc_len = foc_len;
|
|
packet->img_idx = img_idx;
|
|
packet->target_system = target_system;
|
|
packet->cam_idx = cam_idx;
|
|
packet->flags = flags;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_MIN_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE CAMERA_FEEDBACK UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field time_usec from camera_feedback message
|
|
*
|
|
* @return [us] Image timestamp (since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB).
|
|
*/
|
|
static inline uint64_t mavlink_msg_camera_feedback_get_time_usec(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field target_system from camera_feedback message
|
|
*
|
|
* @return System ID.
|
|
*/
|
|
static inline uint8_t mavlink_msg_camera_feedback_get_target_system(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 42);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field cam_idx from camera_feedback message
|
|
*
|
|
* @return Camera ID.
|
|
*/
|
|
static inline uint8_t mavlink_msg_camera_feedback_get_cam_idx(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 43);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field img_idx from camera_feedback message
|
|
*
|
|
* @return Image index.
|
|
*/
|
|
static inline uint16_t mavlink_msg_camera_feedback_get_img_idx(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lat from camera_feedback message
|
|
*
|
|
* @return [degE7] Latitude.
|
|
*/
|
|
static inline int32_t mavlink_msg_camera_feedback_get_lat(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lng from camera_feedback message
|
|
*
|
|
* @return [degE7] Longitude.
|
|
*/
|
|
static inline int32_t mavlink_msg_camera_feedback_get_lng(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field alt_msl from camera_feedback message
|
|
*
|
|
* @return [m] Altitude (MSL).
|
|
*/
|
|
static inline float mavlink_msg_camera_feedback_get_alt_msl(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field alt_rel from camera_feedback message
|
|
*
|
|
* @return [m] Altitude (Relative to HOME location).
|
|
*/
|
|
static inline float mavlink_msg_camera_feedback_get_alt_rel(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field roll from camera_feedback message
|
|
*
|
|
* @return [deg] Camera Roll angle (earth frame, +-180).
|
|
*/
|
|
static inline float mavlink_msg_camera_feedback_get_roll(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field pitch from camera_feedback message
|
|
*
|
|
* @return [deg] Camera Pitch angle (earth frame, +-180).
|
|
*/
|
|
static inline float mavlink_msg_camera_feedback_get_pitch(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field yaw from camera_feedback message
|
|
*
|
|
* @return [deg] Camera Yaw (earth frame, 0-360, true).
|
|
*/
|
|
static inline float mavlink_msg_camera_feedback_get_yaw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field foc_len from camera_feedback message
|
|
*
|
|
* @return [mm] Focal Length.
|
|
*/
|
|
static inline float mavlink_msg_camera_feedback_get_foc_len(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field flags from camera_feedback message
|
|
*
|
|
* @return Feedback flags.
|
|
*/
|
|
static inline uint8_t mavlink_msg_camera_feedback_get_flags(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 44);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a camera_feedback message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param camera_feedback C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_camera_feedback_decode(const mavlink_message_t* msg, mavlink_camera_feedback_t* camera_feedback)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
camera_feedback->time_usec = mavlink_msg_camera_feedback_get_time_usec(msg);
|
|
camera_feedback->lat = mavlink_msg_camera_feedback_get_lat(msg);
|
|
camera_feedback->lng = mavlink_msg_camera_feedback_get_lng(msg);
|
|
camera_feedback->alt_msl = mavlink_msg_camera_feedback_get_alt_msl(msg);
|
|
camera_feedback->alt_rel = mavlink_msg_camera_feedback_get_alt_rel(msg);
|
|
camera_feedback->roll = mavlink_msg_camera_feedback_get_roll(msg);
|
|
camera_feedback->pitch = mavlink_msg_camera_feedback_get_pitch(msg);
|
|
camera_feedback->yaw = mavlink_msg_camera_feedback_get_yaw(msg);
|
|
camera_feedback->foc_len = mavlink_msg_camera_feedback_get_foc_len(msg);
|
|
camera_feedback->img_idx = mavlink_msg_camera_feedback_get_img_idx(msg);
|
|
camera_feedback->target_system = mavlink_msg_camera_feedback_get_target_system(msg);
|
|
camera_feedback->cam_idx = mavlink_msg_camera_feedback_get_cam_idx(msg);
|
|
camera_feedback->flags = mavlink_msg_camera_feedback_get_flags(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN? msg->len : MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN;
|
|
memset(camera_feedback, 0, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN);
|
|
memcpy(camera_feedback, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|