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
456 lines
26 KiB
C
456 lines
26 KiB
C
#pragma once
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// MESSAGE SET_HOME_POSITION PACKING
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#define MAVLINK_MSG_ID_SET_HOME_POSITION 243
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MAVPACKED(
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typedef struct __mavlink_set_home_position_t {
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int32_t latitude; /*< [degE7] Latitude (WGS84)*/
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int32_t longitude; /*< [degE7] Longitude (WGS84)*/
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int32_t altitude; /*< [mm] Altitude (MSL). Positive for up.*/
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float x; /*< [m] Local X position of this position in the local coordinate frame*/
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float y; /*< [m] Local Y position of this position in the local coordinate frame*/
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float z; /*< [m] Local Z position of this position in the local coordinate frame*/
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float q[4]; /*< World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground*/
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float approach_x; /*< [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
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float approach_y; /*< [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
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float approach_z; /*< [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.*/
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uint8_t target_system; /*< System ID.*/
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}) mavlink_set_home_position_t;
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#define MAVLINK_MSG_ID_SET_HOME_POSITION_LEN 53
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#define MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN 53
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#define MAVLINK_MSG_ID_243_LEN 53
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#define MAVLINK_MSG_ID_243_MIN_LEN 53
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#define MAVLINK_MSG_ID_SET_HOME_POSITION_CRC 85
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#define MAVLINK_MSG_ID_243_CRC 85
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#define MAVLINK_MSG_SET_HOME_POSITION_FIELD_Q_LEN 4
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_SET_HOME_POSITION { \
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243, \
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"SET_HOME_POSITION", \
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11, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_home_position_t, target_system) }, \
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{ "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_home_position_t, latitude) }, \
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{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_home_position_t, longitude) }, \
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{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_home_position_t, altitude) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_home_position_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_home_position_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_home_position_t, z) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_set_home_position_t, q) }, \
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{ "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_home_position_t, approach_x) }, \
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{ "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_home_position_t, approach_y) }, \
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{ "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_set_home_position_t, approach_z) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_SET_HOME_POSITION { \
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"SET_HOME_POSITION", \
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11, \
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{ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 52, offsetof(mavlink_set_home_position_t, target_system) }, \
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{ "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_set_home_position_t, latitude) }, \
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{ "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_set_home_position_t, longitude) }, \
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{ "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_set_home_position_t, altitude) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_set_home_position_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_set_home_position_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_set_home_position_t, z) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 24, offsetof(mavlink_set_home_position_t, q) }, \
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{ "approach_x", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_set_home_position_t, approach_x) }, \
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{ "approach_y", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_set_home_position_t, approach_y) }, \
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{ "approach_z", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_set_home_position_t, approach_z) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a set_home_position 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 target_system System ID.
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* @param latitude [degE7] Latitude (WGS84)
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* @param longitude [degE7] Longitude (WGS84)
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* @param altitude [mm] Altitude (MSL). Positive for up.
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* @param x [m] Local X position of this position in the local coordinate frame
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* @param y [m] Local Y position of this position in the local coordinate frame
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* @param z [m] Local Z position of this position in the local coordinate frame
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* @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
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* @param approach_x [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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* @param approach_y [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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* @param approach_z [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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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_set_home_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z)
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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_SET_HOME_POSITION_LEN];
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_mav_put_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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_mav_put_float(buf, 12, x);
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_mav_put_float(buf, 16, y);
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_mav_put_float(buf, 20, z);
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_mav_put_float(buf, 40, approach_x);
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_mav_put_float(buf, 44, approach_y);
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_mav_put_float(buf, 48, approach_z);
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_mav_put_uint8_t(buf, 52, target_system);
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_mav_put_float_array(buf, 24, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
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#else
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mavlink_set_home_position_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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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.approach_x = approach_x;
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packet.approach_y = approach_y;
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packet.approach_z = approach_z;
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packet.target_system = target_system;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_HOME_POSITION;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
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}
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/**
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* @brief Pack a set_home_position 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 target_system System ID.
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* @param latitude [degE7] Latitude (WGS84)
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* @param longitude [degE7] Longitude (WGS84)
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* @param altitude [mm] Altitude (MSL). Positive for up.
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* @param x [m] Local X position of this position in the local coordinate frame
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* @param y [m] Local Y position of this position in the local coordinate frame
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* @param z [m] Local Z position of this position in the local coordinate frame
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* @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
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* @param approach_x [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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* @param approach_y [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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* @param approach_z [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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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_set_home_position_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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uint8_t target_system,int32_t latitude,int32_t longitude,int32_t altitude,float x,float y,float z,const float *q,float approach_x,float approach_y,float approach_z)
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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_SET_HOME_POSITION_LEN];
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_mav_put_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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_mav_put_float(buf, 12, x);
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_mav_put_float(buf, 16, y);
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_mav_put_float(buf, 20, z);
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_mav_put_float(buf, 40, approach_x);
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_mav_put_float(buf, 44, approach_y);
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_mav_put_float(buf, 48, approach_z);
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_mav_put_uint8_t(buf, 52, target_system);
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_mav_put_float_array(buf, 24, q, 4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
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#else
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mavlink_set_home_position_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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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.approach_x = approach_x;
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packet.approach_y = approach_y;
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packet.approach_z = approach_z;
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packet.target_system = target_system;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_SET_HOME_POSITION;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
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}
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/**
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* @brief Encode a set_home_position 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 set_home_position C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_set_home_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_set_home_position_t* set_home_position)
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{
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return mavlink_msg_set_home_position_pack(system_id, component_id, msg, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z);
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}
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/**
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* @brief Encode a set_home_position 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 set_home_position C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_set_home_position_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_set_home_position_t* set_home_position)
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{
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return mavlink_msg_set_home_position_pack_chan(system_id, component_id, chan, msg, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z);
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}
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/**
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* @brief Send a set_home_position message
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* @param chan MAVLink channel to send the message
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*
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* @param target_system System ID.
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* @param latitude [degE7] Latitude (WGS84)
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* @param longitude [degE7] Longitude (WGS84)
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* @param altitude [mm] Altitude (MSL). Positive for up.
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* @param x [m] Local X position of this position in the local coordinate frame
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* @param y [m] Local Y position of this position in the local coordinate frame
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* @param z [m] Local Z position of this position in the local coordinate frame
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* @param q World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
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* @param approach_x [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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* @param approach_y [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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* @param approach_z [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_set_home_position_send(mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z)
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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_SET_HOME_POSITION_LEN];
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_mav_put_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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_mav_put_float(buf, 12, x);
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_mav_put_float(buf, 16, y);
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_mav_put_float(buf, 20, z);
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_mav_put_float(buf, 40, approach_x);
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_mav_put_float(buf, 44, approach_y);
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_mav_put_float(buf, 48, approach_z);
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_mav_put_uint8_t(buf, 52, target_system);
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_mav_put_float_array(buf, 24, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, buf, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
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#else
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mavlink_set_home_position_t packet;
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packet.latitude = latitude;
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packet.longitude = longitude;
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packet.altitude = altitude;
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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.approach_x = approach_x;
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packet.approach_y = approach_y;
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packet.approach_z = approach_z;
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packet.target_system = target_system;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)&packet, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
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#endif
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}
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/**
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* @brief Send a set_home_position 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_set_home_position_send_struct(mavlink_channel_t chan, const mavlink_set_home_position_t* set_home_position)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_set_home_position_send(chan, set_home_position->target_system, set_home_position->latitude, set_home_position->longitude, set_home_position->altitude, set_home_position->x, set_home_position->y, set_home_position->z, set_home_position->q, set_home_position->approach_x, set_home_position->approach_y, set_home_position->approach_z);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)set_home_position, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_SET_HOME_POSITION_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_set_home_position_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_system, int32_t latitude, int32_t longitude, int32_t altitude, float x, float y, float z, const float *q, float approach_x, float approach_y, float approach_z)
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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_int32_t(buf, 0, latitude);
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_mav_put_int32_t(buf, 4, longitude);
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_mav_put_int32_t(buf, 8, altitude);
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_mav_put_float(buf, 12, x);
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_mav_put_float(buf, 16, y);
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_mav_put_float(buf, 20, z);
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_mav_put_float(buf, 40, approach_x);
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_mav_put_float(buf, 44, approach_y);
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_mav_put_float(buf, 48, approach_z);
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_mav_put_uint8_t(buf, 52, target_system);
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_mav_put_float_array(buf, 24, q, 4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, buf, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_CRC);
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#else
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mavlink_set_home_position_t *packet = (mavlink_set_home_position_t *)msgbuf;
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packet->latitude = latitude;
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packet->longitude = longitude;
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packet->altitude = altitude;
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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->approach_x = approach_x;
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packet->approach_y = approach_y;
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packet->approach_z = approach_z;
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packet->target_system = target_system;
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mav_array_memcpy(packet->q, q, sizeof(float)*4);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_SET_HOME_POSITION, (const char *)packet, MAVLINK_MSG_ID_SET_HOME_POSITION_MIN_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN, MAVLINK_MSG_ID_SET_HOME_POSITION_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 SET_HOME_POSITION UNPACKING
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/**
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* @brief Get field target_system from set_home_position message
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*
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* @return System ID.
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*/
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static inline uint8_t mavlink_msg_set_home_position_get_target_system(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 52);
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}
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/**
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* @brief Get field latitude from set_home_position message
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*
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* @return [degE7] Latitude (WGS84)
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*/
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static inline int32_t mavlink_msg_set_home_position_get_latitude(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 0);
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}
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/**
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* @brief Get field longitude from set_home_position message
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*
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* @return [degE7] Longitude (WGS84)
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*/
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static inline int32_t mavlink_msg_set_home_position_get_longitude(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 4);
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}
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/**
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* @brief Get field altitude from set_home_position message
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*
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* @return [mm] Altitude (MSL). Positive for up.
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*/
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static inline int32_t mavlink_msg_set_home_position_get_altitude(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_int32_t(msg, 8);
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}
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/**
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* @brief Get field x from set_home_position message
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*
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* @return [m] Local X position of this position in the local coordinate frame
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*/
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static inline float mavlink_msg_set_home_position_get_x(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 y from set_home_position message
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*
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* @return [m] Local Y position of this position in the local coordinate frame
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*/
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static inline float mavlink_msg_set_home_position_get_y(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 z from set_home_position message
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*
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* @return [m] Local Z position of this position in the local coordinate frame
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*/
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static inline float mavlink_msg_set_home_position_get_z(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 q from set_home_position message
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*
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* @return World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
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*/
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static inline uint16_t mavlink_msg_set_home_position_get_q(const mavlink_message_t* msg, float *q)
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{
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return _MAV_RETURN_float_array(msg, q, 4, 24);
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}
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/**
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* @brief Get field approach_x from set_home_position message
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*
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* @return [m] Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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*/
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static inline float mavlink_msg_set_home_position_get_approach_x(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 approach_y from set_home_position message
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*
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* @return [m] Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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*/
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static inline float mavlink_msg_set_home_position_get_approach_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 44);
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}
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/**
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* @brief Get field approach_z from set_home_position message
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*
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* @return [m] Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
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*/
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static inline float mavlink_msg_set_home_position_get_approach_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 48);
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}
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/**
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* @brief Decode a set_home_position message into a struct
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*
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* @param msg The message to decode
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* @param set_home_position C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_set_home_position_decode(const mavlink_message_t* msg, mavlink_set_home_position_t* set_home_position)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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set_home_position->latitude = mavlink_msg_set_home_position_get_latitude(msg);
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set_home_position->longitude = mavlink_msg_set_home_position_get_longitude(msg);
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set_home_position->altitude = mavlink_msg_set_home_position_get_altitude(msg);
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set_home_position->x = mavlink_msg_set_home_position_get_x(msg);
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set_home_position->y = mavlink_msg_set_home_position_get_y(msg);
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set_home_position->z = mavlink_msg_set_home_position_get_z(msg);
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mavlink_msg_set_home_position_get_q(msg, set_home_position->q);
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set_home_position->approach_x = mavlink_msg_set_home_position_get_approach_x(msg);
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set_home_position->approach_y = mavlink_msg_set_home_position_get_approach_y(msg);
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set_home_position->approach_z = mavlink_msg_set_home_position_get_approach_z(msg);
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set_home_position->target_system = mavlink_msg_set_home_position_get_target_system(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_SET_HOME_POSITION_LEN? msg->len : MAVLINK_MSG_ID_SET_HOME_POSITION_LEN;
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memset(set_home_position, 0, MAVLINK_MSG_ID_SET_HOME_POSITION_LEN);
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memcpy(set_home_position, _MAV_PAYLOAD(msg), len);
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#endif
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}
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