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
481 lines
23 KiB
C
481 lines
23 KiB
C
#pragma once
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// MESSAGE LOCAL_POSITION_NED_COV PACKING
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#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV 64
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MAVPACKED(
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typedef struct __mavlink_local_position_ned_cov_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 x; /*< [m] X Position*/
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float y; /*< [m] Y Position*/
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float z; /*< [m] Z Position*/
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float vx; /*< [m/s] X Speed*/
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float vy; /*< [m/s] Y Speed*/
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float vz; /*< [m/s] Z Speed*/
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float ax; /*< [m/s/s] X Acceleration*/
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float ay; /*< [m/s/s] Y Acceleration*/
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float az; /*< [m/s/s] Z Acceleration*/
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float covariance[45]; /*< Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.*/
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uint8_t estimator_type; /*< Class id of the estimator this estimate originated from.*/
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}) mavlink_local_position_ned_cov_t;
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#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN 225
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#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN 225
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#define MAVLINK_MSG_ID_64_LEN 225
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#define MAVLINK_MSG_ID_64_MIN_LEN 225
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#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC 191
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#define MAVLINK_MSG_ID_64_CRC 191
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#define MAVLINK_MSG_LOCAL_POSITION_NED_COV_FIELD_COVARIANCE_LEN 45
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_COV { \
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64, \
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"LOCAL_POSITION_NED_COV", \
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12, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_ned_cov_t, time_usec) }, \
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{ "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 224, offsetof(mavlink_local_position_ned_cov_t, estimator_type) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_cov_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_cov_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_cov_t, z) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_cov_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_cov_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_ned_cov_t, vz) }, \
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{ "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_local_position_ned_cov_t, ax) }, \
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{ "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_local_position_ned_cov_t, ay) }, \
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{ "az", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_local_position_ned_cov_t, az) }, \
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{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 45, 44, offsetof(mavlink_local_position_ned_cov_t, covariance) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED_COV { \
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"LOCAL_POSITION_NED_COV", \
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12, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_local_position_ned_cov_t, time_usec) }, \
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{ "estimator_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 224, offsetof(mavlink_local_position_ned_cov_t, estimator_type) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_cov_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_cov_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_cov_t, z) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_cov_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_cov_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_local_position_ned_cov_t, vz) }, \
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{ "ax", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_local_position_ned_cov_t, ax) }, \
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{ "ay", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_local_position_ned_cov_t, ay) }, \
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{ "az", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_local_position_ned_cov_t, az) }, \
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{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 45, 44, offsetof(mavlink_local_position_ned_cov_t, covariance) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a local_position_ned_cov 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 estimator_type Class id of the estimator this estimate originated from.
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* @param x [m] X Position
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* @param y [m] Y Position
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* @param z [m] Z Position
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* @param vx [m/s] X Speed
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* @param vy [m/s] Y Speed
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* @param vz [m/s] Z Speed
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* @param ax [m/s/s] X Acceleration
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* @param ay [m/s/s] Y Acceleration
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* @param az [m/s/s] Z Acceleration
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* @param covariance Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
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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_local_position_ned_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, const float *covariance)
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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_LOCAL_POSITION_NED_COV_LEN];
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_mav_put_uint64_t(buf, 0, time_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, vx);
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_mav_put_float(buf, 24, vy);
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_mav_put_float(buf, 28, vz);
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_mav_put_float(buf, 32, ax);
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_mav_put_float(buf, 36, ay);
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_mav_put_float(buf, 40, az);
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_mav_put_uint8_t(buf, 224, estimator_type);
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_mav_put_float_array(buf, 44, covariance, 45);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
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#else
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mavlink_local_position_ned_cov_t packet;
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packet.time_usec = time_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.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.ax = ax;
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packet.ay = ay;
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packet.az = az;
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packet.estimator_type = estimator_type;
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*45);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
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}
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/**
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* @brief Pack a local_position_ned_cov 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 estimator_type Class id of the estimator this estimate originated from.
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* @param x [m] X Position
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* @param y [m] Y Position
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* @param z [m] Z Position
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* @param vx [m/s] X Speed
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* @param vy [m/s] Y Speed
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* @param vz [m/s] Z Speed
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* @param ax [m/s/s] X Acceleration
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* @param ay [m/s/s] Y Acceleration
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* @param az [m/s/s] Z Acceleration
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* @param covariance Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
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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_local_position_ned_cov_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 estimator_type,float x,float y,float z,float vx,float vy,float vz,float ax,float ay,float az,const float *covariance)
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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_LOCAL_POSITION_NED_COV_LEN];
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_mav_put_uint64_t(buf, 0, time_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, vx);
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_mav_put_float(buf, 24, vy);
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_mav_put_float(buf, 28, vz);
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_mav_put_float(buf, 32, ax);
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_mav_put_float(buf, 36, ay);
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_mav_put_float(buf, 40, az);
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_mav_put_uint8_t(buf, 224, estimator_type);
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_mav_put_float_array(buf, 44, covariance, 45);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
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#else
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mavlink_local_position_ned_cov_t packet;
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packet.time_usec = time_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.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.ax = ax;
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packet.ay = ay;
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packet.az = az;
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packet.estimator_type = estimator_type;
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*45);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
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}
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/**
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* @brief Encode a local_position_ned_cov 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 local_position_ned_cov C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_local_position_ned_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_cov_t* local_position_ned_cov)
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{
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return mavlink_msg_local_position_ned_cov_pack(system_id, component_id, msg, local_position_ned_cov->time_usec, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->ax, local_position_ned_cov->ay, local_position_ned_cov->az, local_position_ned_cov->covariance);
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}
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/**
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* @brief Encode a local_position_ned_cov 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 local_position_ned_cov C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_local_position_ned_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_cov_t* local_position_ned_cov)
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{
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return mavlink_msg_local_position_ned_cov_pack_chan(system_id, component_id, chan, msg, local_position_ned_cov->time_usec, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->ax, local_position_ned_cov->ay, local_position_ned_cov->az, local_position_ned_cov->covariance);
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}
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/**
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* @brief Send a local_position_ned_cov 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 estimator_type Class id of the estimator this estimate originated from.
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* @param x [m] X Position
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* @param y [m] Y Position
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* @param z [m] Z Position
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* @param vx [m/s] X Speed
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* @param vy [m/s] Y Speed
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* @param vz [m/s] Z Speed
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* @param ax [m/s/s] X Acceleration
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* @param ay [m/s/s] Y Acceleration
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* @param az [m/s/s] Z Acceleration
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* @param covariance Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_local_position_ned_cov_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, const float *covariance)
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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_LOCAL_POSITION_NED_COV_LEN];
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_mav_put_uint64_t(buf, 0, time_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, vx);
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_mav_put_float(buf, 24, vy);
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_mav_put_float(buf, 28, vz);
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_mav_put_float(buf, 32, ax);
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_mav_put_float(buf, 36, ay);
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_mav_put_float(buf, 40, az);
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_mav_put_uint8_t(buf, 224, estimator_type);
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_mav_put_float_array(buf, 44, covariance, 45);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
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#else
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mavlink_local_position_ned_cov_t packet;
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packet.time_usec = time_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.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.ax = ax;
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packet.ay = ay;
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packet.az = az;
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packet.estimator_type = estimator_type;
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*45);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
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#endif
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}
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/**
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* @brief Send a local_position_ned_cov 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_local_position_ned_cov_send_struct(mavlink_channel_t chan, const mavlink_local_position_ned_cov_t* local_position_ned_cov)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_local_position_ned_cov_send(chan, local_position_ned_cov->time_usec, local_position_ned_cov->estimator_type, local_position_ned_cov->x, local_position_ned_cov->y, local_position_ned_cov->z, local_position_ned_cov->vx, local_position_ned_cov->vy, local_position_ned_cov->vz, local_position_ned_cov->ax, local_position_ned_cov->ay, local_position_ned_cov->az, local_position_ned_cov->covariance);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)local_position_ned_cov, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_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_local_position_ned_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t estimator_type, float x, float y, float z, float vx, float vy, float vz, float ax, float ay, float az, const float *covariance)
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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);
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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, vx);
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_mav_put_float(buf, 24, vy);
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_mav_put_float(buf, 28, vz);
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_mav_put_float(buf, 32, ax);
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_mav_put_float(buf, 36, ay);
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_mav_put_float(buf, 40, az);
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_mav_put_uint8_t(buf, 224, estimator_type);
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_mav_put_float_array(buf, 44, covariance, 45);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_CRC);
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#else
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mavlink_local_position_ned_cov_t *packet = (mavlink_local_position_ned_cov_t *)msgbuf;
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packet->time_usec = time_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->vx = vx;
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packet->vy = vy;
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packet->vz = vz;
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packet->ax = ax;
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packet->ay = ay;
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packet->az = az;
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packet->estimator_type = estimator_type;
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mav_array_memcpy(packet->covariance, covariance, sizeof(float)*45);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_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 LOCAL_POSITION_NED_COV UNPACKING
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/**
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* @brief Get field time_usec from local_position_ned_cov message
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*
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* @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.
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*/
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static inline uint64_t mavlink_msg_local_position_ned_cov_get_time_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 estimator_type from local_position_ned_cov message
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*
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* @return Class id of the estimator this estimate originated from.
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*/
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static inline uint8_t mavlink_msg_local_position_ned_cov_get_estimator_type(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 224);
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}
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/**
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* @brief Get field x from local_position_ned_cov message
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*
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* @return [m] X Position
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*/
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static inline float mavlink_msg_local_position_ned_cov_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 local_position_ned_cov message
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*
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* @return [m] Y Position
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*/
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static inline float mavlink_msg_local_position_ned_cov_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 local_position_ned_cov message
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*
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* @return [m] Z Position
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*/
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static inline float mavlink_msg_local_position_ned_cov_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 vx from local_position_ned_cov message
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*
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* @return [m/s] X Speed
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*/
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static inline float mavlink_msg_local_position_ned_cov_get_vx(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 vy from local_position_ned_cov message
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*
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* @return [m/s] Y Speed
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*/
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static inline float mavlink_msg_local_position_ned_cov_get_vy(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 vz from local_position_ned_cov message
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*
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* @return [m/s] Z Speed
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*/
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static inline float mavlink_msg_local_position_ned_cov_get_vz(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 28);
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}
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/**
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* @brief Get field ax from local_position_ned_cov message
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*
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* @return [m/s/s] X Acceleration
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*/
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static inline float mavlink_msg_local_position_ned_cov_get_ax(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 32);
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}
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/**
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* @brief Get field ay from local_position_ned_cov message
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*
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* @return [m/s/s] Y Acceleration
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*/
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static inline float mavlink_msg_local_position_ned_cov_get_ay(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 36);
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}
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/**
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* @brief Get field az from local_position_ned_cov message
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*
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* @return [m/s/s] Z Acceleration
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*/
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static inline float mavlink_msg_local_position_ned_cov_get_az(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 40);
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}
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/**
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* @brief Get field covariance from local_position_ned_cov message
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*
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* @return Row-major representation of position, velocity and acceleration 9x9 cross-covariance matrix upper right triangle (states: x, y, z, vx, vy, vz, ax, ay, az; first nine entries are the first ROW, next eight entries are the second row, etc.). If unknown, assign NaN value to first element in the array.
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*/
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static inline uint16_t mavlink_msg_local_position_ned_cov_get_covariance(const mavlink_message_t* msg, float *covariance)
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{
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return _MAV_RETURN_float_array(msg, covariance, 45, 44);
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}
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/**
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* @brief Decode a local_position_ned_cov message into a struct
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*
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* @param msg The message to decode
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* @param local_position_ned_cov C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_local_position_ned_cov_decode(const mavlink_message_t* msg, mavlink_local_position_ned_cov_t* local_position_ned_cov)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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local_position_ned_cov->time_usec = mavlink_msg_local_position_ned_cov_get_time_usec(msg);
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local_position_ned_cov->x = mavlink_msg_local_position_ned_cov_get_x(msg);
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local_position_ned_cov->y = mavlink_msg_local_position_ned_cov_get_y(msg);
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local_position_ned_cov->z = mavlink_msg_local_position_ned_cov_get_z(msg);
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local_position_ned_cov->vx = mavlink_msg_local_position_ned_cov_get_vx(msg);
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local_position_ned_cov->vy = mavlink_msg_local_position_ned_cov_get_vy(msg);
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local_position_ned_cov->vz = mavlink_msg_local_position_ned_cov_get_vz(msg);
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local_position_ned_cov->ax = mavlink_msg_local_position_ned_cov_get_ax(msg);
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local_position_ned_cov->ay = mavlink_msg_local_position_ned_cov_get_ay(msg);
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local_position_ned_cov->az = mavlink_msg_local_position_ned_cov_get_az(msg);
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mavlink_msg_local_position_ned_cov_get_covariance(msg, local_position_ned_cov->covariance);
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local_position_ned_cov->estimator_type = mavlink_msg_local_position_ned_cov_get_estimator_type(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN? msg->len : MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN;
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memset(local_position_ned_cov, 0, MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV_LEN);
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memcpy(local_position_ned_cov, _MAV_PAYLOAD(msg), len);
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#endif
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}
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