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
364 lines
16 KiB
C
364 lines
16 KiB
C
#pragma once
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// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE PACKING
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#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE 101
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MAVPACKED(
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typedef struct __mavlink_global_vision_position_estimate_t {
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uint64_t usec; /*< [us] Timestamp (UNIX time or since system boot)*/
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float x; /*< [m] Global X position*/
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float y; /*< [m] Global Y position*/
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float z; /*< [m] Global Z position*/
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float roll; /*< [rad] Roll angle*/
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float pitch; /*< [rad] Pitch angle*/
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float yaw; /*< [rad] Yaw angle*/
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}) mavlink_global_vision_position_estimate_t;
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#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 32
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#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN 32
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#define MAVLINK_MSG_ID_101_LEN 32
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#define MAVLINK_MSG_ID_101_MIN_LEN 32
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#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC 102
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#define MAVLINK_MSG_ID_101_CRC 102
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
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101, \
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"GLOBAL_VISION_POSITION_ESTIMATE", \
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7, \
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{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
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"GLOBAL_VISION_POSITION_ESTIMATE", \
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7, \
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{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a global_vision_position_estimate 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 usec [us] Timestamp (UNIX time or since system boot)
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* @param x [m] Global X position
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* @param y [m] Global Y position
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* @param z [m] Global Z position
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* @param roll [rad] Roll angle
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* @param pitch [rad] Pitch angle
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* @param yaw [rad] Yaw angle
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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_global_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
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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_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_float(buf, 20, roll);
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_mav_put_float(buf, 24, pitch);
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_mav_put_float(buf, 28, yaw);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
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#else
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mavlink_global_vision_position_estimate_t packet;
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packet.usec = usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
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}
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/**
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* @brief Pack a global_vision_position_estimate 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 usec [us] Timestamp (UNIX time or since system boot)
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* @param x [m] Global X position
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* @param y [m] Global Y position
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* @param z [m] Global Z position
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* @param roll [rad] Roll angle
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* @param pitch [rad] Pitch angle
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* @param yaw [rad] Yaw angle
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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_global_vision_position_estimate_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 usec,float x,float y,float z,float roll,float pitch,float yaw)
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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_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_float(buf, 20, roll);
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_mav_put_float(buf, 24, pitch);
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_mav_put_float(buf, 28, yaw);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
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#else
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mavlink_global_vision_position_estimate_t packet;
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packet.usec = usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
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}
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/**
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* @brief Encode a global_vision_position_estimate 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 global_vision_position_estimate C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
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{
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return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
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}
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/**
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* @brief Encode a global_vision_position_estimate 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 global_vision_position_estimate C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
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{
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return mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
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}
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/**
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* @brief Send a global_vision_position_estimate message
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* @param chan MAVLink channel to send the message
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*
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* @param usec [us] Timestamp (UNIX time or since system boot)
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* @param x [m] Global X position
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* @param y [m] Global Y position
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* @param z [m] Global Z position
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* @param roll [rad] Roll angle
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* @param pitch [rad] Pitch angle
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* @param yaw [rad] Yaw angle
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
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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_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
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_mav_put_uint64_t(buf, 0, usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_float(buf, 20, roll);
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_mav_put_float(buf, 24, pitch);
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_mav_put_float(buf, 28, yaw);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
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#else
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mavlink_global_vision_position_estimate_t packet;
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packet.usec = usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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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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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
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#endif
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}
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/**
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* @brief Send a global_vision_position_estimate 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_global_vision_position_estimate_send_struct(mavlink_channel_t chan, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_global_vision_position_estimate_send(chan, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)global_vision_position_estimate, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_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_global_vision_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
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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, usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_float(buf, 20, roll);
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_mav_put_float(buf, 24, pitch);
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_mav_put_float(buf, 28, yaw);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
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#else
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mavlink_global_vision_position_estimate_t *packet = (mavlink_global_vision_position_estimate_t *)msgbuf;
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packet->usec = usec;
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packet->x = x;
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packet->y = y;
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packet->z = z;
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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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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE UNPACKING
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/**
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* @brief Get field usec from global_vision_position_estimate message
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*
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* @return [us] Timestamp (UNIX time or since system boot)
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*/
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static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(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 x from global_vision_position_estimate message
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*
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* @return [m] Global X position
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*/
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static inline float mavlink_msg_global_vision_position_estimate_get_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field y from global_vision_position_estimate message
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*
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* @return [m] Global Y position
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*/
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static inline float mavlink_msg_global_vision_position_estimate_get_y(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 z from global_vision_position_estimate message
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*
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* @return [m] Global Z position
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*/
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static inline float mavlink_msg_global_vision_position_estimate_get_z(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 roll from global_vision_position_estimate message
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*
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* @return [rad] Roll angle
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*/
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static inline float mavlink_msg_global_vision_position_estimate_get_roll(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 pitch from global_vision_position_estimate message
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*
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* @return [rad] Pitch angle
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*/
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static inline float mavlink_msg_global_vision_position_estimate_get_pitch(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 yaw from global_vision_position_estimate message
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*
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* @return [rad] Yaw angle
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*/
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static inline float mavlink_msg_global_vision_position_estimate_get_yaw(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 Decode a global_vision_position_estimate message into a struct
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*
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* @param msg The message to decode
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* @param global_vision_position_estimate C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_global_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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global_vision_position_estimate->usec = mavlink_msg_global_vision_position_estimate_get_usec(msg);
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global_vision_position_estimate->x = mavlink_msg_global_vision_position_estimate_get_x(msg);
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global_vision_position_estimate->y = mavlink_msg_global_vision_position_estimate_get_y(msg);
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global_vision_position_estimate->z = mavlink_msg_global_vision_position_estimate_get_z(msg);
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global_vision_position_estimate->roll = mavlink_msg_global_vision_position_estimate_get_roll(msg);
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global_vision_position_estimate->pitch = mavlink_msg_global_vision_position_estimate_get_pitch(msg);
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global_vision_position_estimate->yaw = mavlink_msg_global_vision_position_estimate_get_yaw(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN;
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memset(global_vision_position_estimate, 0, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
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memcpy(global_vision_position_estimate, _MAV_PAYLOAD(msg), len);
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#endif
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}
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