629 lines
22 KiB
C
629 lines
22 KiB
C
// MESSAGE IMAGE_AVAILABLE PACKING
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#define MAVLINK_MSG_ID_IMAGE_AVAILABLE 154
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typedef struct __mavlink_image_available_t
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{
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uint64_t cam_id; ///< Camera id
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uint64_t timestamp; ///< Timestamp
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uint64_t valid_until; ///< Until which timestamp this buffer will stay valid
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uint32_t img_seq; ///< The image sequence number
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uint32_t img_buf_index; ///< Position of the image in the buffer, starts with 0
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uint32_t key; ///< Shared memory area key
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uint32_t exposure; ///< Exposure time, in microseconds
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float gain; ///< Camera gain
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float roll; ///< Roll angle in rad
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float pitch; ///< Pitch angle in rad
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float yaw; ///< Yaw angle in rad
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float local_z; ///< Local frame Z coordinate (height over ground)
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float lat; ///< GPS X coordinate
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float lon; ///< GPS Y coordinate
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float alt; ///< Global frame altitude
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float ground_x; ///< Ground truth X
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float ground_y; ///< Ground truth Y
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float ground_z; ///< Ground truth Z
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uint16_t width; ///< Image width
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uint16_t height; ///< Image height
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uint16_t depth; ///< Image depth
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uint8_t cam_no; ///< Camera # (starts with 0)
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uint8_t channels; ///< Image channels
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} mavlink_image_available_t;
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#define MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN 92
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#define MAVLINK_MSG_ID_154_LEN 92
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#define MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE { \
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"IMAGE_AVAILABLE", \
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23, \
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{ { "cam_id", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_image_available_t, cam_id) }, \
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{ "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_image_available_t, timestamp) }, \
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{ "valid_until", NULL, MAVLINK_TYPE_UINT64_T, 0, 16, offsetof(mavlink_image_available_t, valid_until) }, \
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{ "img_seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 24, offsetof(mavlink_image_available_t, img_seq) }, \
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{ "img_buf_index", NULL, MAVLINK_TYPE_UINT32_T, 0, 28, offsetof(mavlink_image_available_t, img_buf_index) }, \
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{ "key", NULL, MAVLINK_TYPE_UINT32_T, 0, 32, offsetof(mavlink_image_available_t, key) }, \
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{ "exposure", NULL, MAVLINK_TYPE_UINT32_T, 0, 36, offsetof(mavlink_image_available_t, exposure) }, \
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{ "gain", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_image_available_t, gain) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_image_available_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_image_available_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_image_available_t, yaw) }, \
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{ "local_z", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_image_available_t, local_z) }, \
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{ "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_image_available_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_image_available_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_image_available_t, alt) }, \
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{ "ground_x", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_image_available_t, ground_x) }, \
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{ "ground_y", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_image_available_t, ground_y) }, \
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{ "ground_z", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_image_available_t, ground_z) }, \
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{ "width", NULL, MAVLINK_TYPE_UINT16_T, 0, 84, offsetof(mavlink_image_available_t, width) }, \
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{ "height", NULL, MAVLINK_TYPE_UINT16_T, 0, 86, offsetof(mavlink_image_available_t, height) }, \
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{ "depth", NULL, MAVLINK_TYPE_UINT16_T, 0, 88, offsetof(mavlink_image_available_t, depth) }, \
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{ "cam_no", NULL, MAVLINK_TYPE_UINT8_T, 0, 90, offsetof(mavlink_image_available_t, cam_no) }, \
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{ "channels", NULL, MAVLINK_TYPE_UINT8_T, 0, 91, offsetof(mavlink_image_available_t, channels) }, \
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} \
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}
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/**
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* @brief Pack a image_available 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 cam_id Camera id
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* @param cam_no Camera # (starts with 0)
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* @param timestamp Timestamp
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* @param valid_until Until which timestamp this buffer will stay valid
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* @param img_seq The image sequence number
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* @param img_buf_index Position of the image in the buffer, starts with 0
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* @param width Image width
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* @param height Image height
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* @param depth Image depth
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* @param channels Image channels
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* @param key Shared memory area key
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* @param exposure Exposure time, in microseconds
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* @param gain Camera gain
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* @param roll Roll angle in rad
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* @param pitch Pitch angle in rad
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* @param yaw Yaw angle in rad
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* @param local_z Local frame Z coordinate (height over ground)
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* @param lat GPS X coordinate
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* @param lon GPS Y coordinate
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* @param alt Global frame altitude
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* @param ground_x Ground truth X
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* @param ground_y Ground truth Y
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* @param ground_z Ground truth Z
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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_image_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[92];
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_mav_put_uint64_t(buf, 0, cam_id);
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_mav_put_uint64_t(buf, 8, timestamp);
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_mav_put_uint64_t(buf, 16, valid_until);
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_mav_put_uint32_t(buf, 24, img_seq);
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_mav_put_uint32_t(buf, 28, img_buf_index);
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_mav_put_uint32_t(buf, 32, key);
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_mav_put_uint32_t(buf, 36, exposure);
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_mav_put_float(buf, 40, gain);
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_mav_put_float(buf, 44, roll);
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_mav_put_float(buf, 48, pitch);
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_mav_put_float(buf, 52, yaw);
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_mav_put_float(buf, 56, local_z);
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_mav_put_float(buf, 60, lat);
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_mav_put_float(buf, 64, lon);
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_mav_put_float(buf, 68, alt);
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_mav_put_float(buf, 72, ground_x);
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_mav_put_float(buf, 76, ground_y);
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_mav_put_float(buf, 80, ground_z);
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_mav_put_uint16_t(buf, 84, width);
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_mav_put_uint16_t(buf, 86, height);
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_mav_put_uint16_t(buf, 88, depth);
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_mav_put_uint8_t(buf, 90, cam_no);
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_mav_put_uint8_t(buf, 91, channels);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 92);
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#else
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mavlink_image_available_t packet;
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packet.cam_id = cam_id;
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packet.timestamp = timestamp;
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packet.valid_until = valid_until;
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packet.img_seq = img_seq;
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packet.img_buf_index = img_buf_index;
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packet.key = key;
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packet.exposure = exposure;
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packet.gain = gain;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.local_z = local_z;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.ground_x = ground_x;
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packet.ground_y = ground_y;
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packet.ground_z = ground_z;
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packet.width = width;
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packet.height = height;
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packet.depth = depth;
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packet.cam_no = cam_no;
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packet.channels = channels;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 92);
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#endif
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msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE;
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return mavlink_finalize_message(msg, system_id, component_id, 92, 224);
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}
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/**
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* @brief Pack a image_available message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message was sent over
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* @param msg The MAVLink message to compress the data into
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* @param cam_id Camera id
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* @param cam_no Camera # (starts with 0)
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* @param timestamp Timestamp
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* @param valid_until Until which timestamp this buffer will stay valid
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* @param img_seq The image sequence number
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* @param img_buf_index Position of the image in the buffer, starts with 0
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* @param width Image width
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* @param height Image height
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* @param depth Image depth
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* @param channels Image channels
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* @param key Shared memory area key
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* @param exposure Exposure time, in microseconds
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* @param gain Camera gain
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* @param roll Roll angle in rad
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* @param pitch Pitch angle in rad
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* @param yaw Yaw angle in rad
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* @param local_z Local frame Z coordinate (height over ground)
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* @param lat GPS X coordinate
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* @param lon GPS Y coordinate
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* @param alt Global frame altitude
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* @param ground_x Ground truth X
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* @param ground_y Ground truth Y
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* @param ground_z Ground truth Z
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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_image_available_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 cam_id,uint8_t cam_no,uint64_t timestamp,uint64_t valid_until,uint32_t img_seq,uint32_t img_buf_index,uint16_t width,uint16_t height,uint16_t depth,uint8_t channels,uint32_t key,uint32_t exposure,float gain,float roll,float pitch,float yaw,float local_z,float lat,float lon,float alt,float ground_x,float ground_y,float ground_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[92];
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_mav_put_uint64_t(buf, 0, cam_id);
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_mav_put_uint64_t(buf, 8, timestamp);
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_mav_put_uint64_t(buf, 16, valid_until);
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_mav_put_uint32_t(buf, 24, img_seq);
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_mav_put_uint32_t(buf, 28, img_buf_index);
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_mav_put_uint32_t(buf, 32, key);
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_mav_put_uint32_t(buf, 36, exposure);
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_mav_put_float(buf, 40, gain);
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_mav_put_float(buf, 44, roll);
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_mav_put_float(buf, 48, pitch);
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_mav_put_float(buf, 52, yaw);
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_mav_put_float(buf, 56, local_z);
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_mav_put_float(buf, 60, lat);
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_mav_put_float(buf, 64, lon);
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_mav_put_float(buf, 68, alt);
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_mav_put_float(buf, 72, ground_x);
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_mav_put_float(buf, 76, ground_y);
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_mav_put_float(buf, 80, ground_z);
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_mav_put_uint16_t(buf, 84, width);
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_mav_put_uint16_t(buf, 86, height);
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_mav_put_uint16_t(buf, 88, depth);
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_mav_put_uint8_t(buf, 90, cam_no);
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_mav_put_uint8_t(buf, 91, channels);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 92);
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#else
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mavlink_image_available_t packet;
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packet.cam_id = cam_id;
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packet.timestamp = timestamp;
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packet.valid_until = valid_until;
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packet.img_seq = img_seq;
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packet.img_buf_index = img_buf_index;
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packet.key = key;
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packet.exposure = exposure;
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packet.gain = gain;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.local_z = local_z;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.ground_x = ground_x;
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packet.ground_y = ground_y;
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packet.ground_z = ground_z;
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packet.width = width;
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packet.height = height;
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packet.depth = depth;
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packet.cam_no = cam_no;
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packet.channels = channels;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 92);
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#endif
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msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 92, 224);
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}
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/**
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* @brief Encode a image_available struct into a message
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param image_available C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_available_t* image_available)
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{
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return mavlink_msg_image_available_pack(system_id, component_id, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch, image_available->yaw, image_available->local_z, image_available->lat, image_available->lon, image_available->alt, image_available->ground_x, image_available->ground_y, image_available->ground_z);
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}
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/**
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* @brief Send a image_available message
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* @param chan MAVLink channel to send the message
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*
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* @param cam_id Camera id
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* @param cam_no Camera # (starts with 0)
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* @param timestamp Timestamp
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* @param valid_until Until which timestamp this buffer will stay valid
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* @param img_seq The image sequence number
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* @param img_buf_index Position of the image in the buffer, starts with 0
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* @param width Image width
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* @param height Image height
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* @param depth Image depth
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* @param channels Image channels
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* @param key Shared memory area key
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* @param exposure Exposure time, in microseconds
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* @param gain Camera gain
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* @param roll Roll angle in rad
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* @param pitch Pitch angle in rad
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* @param yaw Yaw angle in rad
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* @param local_z Local frame Z coordinate (height over ground)
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* @param lat GPS X coordinate
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* @param lon GPS Y coordinate
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* @param alt Global frame altitude
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* @param ground_x Ground truth X
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* @param ground_y Ground truth Y
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* @param ground_z Ground truth Z
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[92];
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_mav_put_uint64_t(buf, 0, cam_id);
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_mav_put_uint64_t(buf, 8, timestamp);
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_mav_put_uint64_t(buf, 16, valid_until);
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_mav_put_uint32_t(buf, 24, img_seq);
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_mav_put_uint32_t(buf, 28, img_buf_index);
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_mav_put_uint32_t(buf, 32, key);
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_mav_put_uint32_t(buf, 36, exposure);
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_mav_put_float(buf, 40, gain);
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_mav_put_float(buf, 44, roll);
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_mav_put_float(buf, 48, pitch);
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_mav_put_float(buf, 52, yaw);
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_mav_put_float(buf, 56, local_z);
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_mav_put_float(buf, 60, lat);
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_mav_put_float(buf, 64, lon);
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_mav_put_float(buf, 68, alt);
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_mav_put_float(buf, 72, ground_x);
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_mav_put_float(buf, 76, ground_y);
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_mav_put_float(buf, 80, ground_z);
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_mav_put_uint16_t(buf, 84, width);
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_mav_put_uint16_t(buf, 86, height);
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_mav_put_uint16_t(buf, 88, depth);
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_mav_put_uint8_t(buf, 90, cam_no);
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_mav_put_uint8_t(buf, 91, channels);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, buf, 92, 224);
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#else
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mavlink_image_available_t packet;
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packet.cam_id = cam_id;
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packet.timestamp = timestamp;
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packet.valid_until = valid_until;
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packet.img_seq = img_seq;
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packet.img_buf_index = img_buf_index;
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packet.key = key;
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packet.exposure = exposure;
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packet.gain = gain;
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packet.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.local_z = local_z;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.ground_x = ground_x;
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packet.ground_y = ground_y;
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packet.ground_z = ground_z;
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packet.width = width;
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packet.height = height;
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packet.depth = depth;
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packet.cam_no = cam_no;
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packet.channels = channels;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, (const char *)&packet, 92, 224);
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#endif
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}
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#endif
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// MESSAGE IMAGE_AVAILABLE UNPACKING
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/**
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* @brief Get field cam_id from image_available message
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*
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* @return Camera id
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*/
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static inline uint64_t mavlink_msg_image_available_get_cam_id(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 cam_no from image_available message
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*
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* @return Camera # (starts with 0)
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*/
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static inline uint8_t mavlink_msg_image_available_get_cam_no(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 90);
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}
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/**
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* @brief Get field timestamp from image_available message
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*
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* @return Timestamp
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|
*/
|
|
static inline uint64_t mavlink_msg_image_available_get_timestamp(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field valid_until from image_available message
|
|
*
|
|
* @return Until which timestamp this buffer will stay valid
|
|
*/
|
|
static inline uint64_t mavlink_msg_image_available_get_valid_until(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field img_seq from image_available message
|
|
*
|
|
* @return The image sequence number
|
|
*/
|
|
static inline uint32_t mavlink_msg_image_available_get_img_seq(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field img_buf_index from image_available message
|
|
*
|
|
* @return Position of the image in the buffer, starts with 0
|
|
*/
|
|
static inline uint32_t mavlink_msg_image_available_get_img_buf_index(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field width from image_available message
|
|
*
|
|
* @return Image width
|
|
*/
|
|
static inline uint16_t mavlink_msg_image_available_get_width(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 84);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field height from image_available message
|
|
*
|
|
* @return Image height
|
|
*/
|
|
static inline uint16_t mavlink_msg_image_available_get_height(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 86);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field depth from image_available message
|
|
*
|
|
* @return Image depth
|
|
*/
|
|
static inline uint16_t mavlink_msg_image_available_get_depth(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 88);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field channels from image_available message
|
|
*
|
|
* @return Image channels
|
|
*/
|
|
static inline uint8_t mavlink_msg_image_available_get_channels(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 91);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field key from image_available message
|
|
*
|
|
* @return Shared memory area key
|
|
*/
|
|
static inline uint32_t mavlink_msg_image_available_get_key(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field exposure from image_available message
|
|
*
|
|
* @return Exposure time, in microseconds
|
|
*/
|
|
static inline uint32_t mavlink_msg_image_available_get_exposure(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field gain from image_available message
|
|
*
|
|
* @return Camera gain
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_gain(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field roll from image_available message
|
|
*
|
|
* @return Roll angle in rad
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_roll(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 44);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field pitch from image_available message
|
|
*
|
|
* @return Pitch angle in rad
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_pitch(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 48);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field yaw from image_available message
|
|
*
|
|
* @return Yaw angle in rad
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_yaw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 52);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field local_z from image_available message
|
|
*
|
|
* @return Local frame Z coordinate (height over ground)
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_local_z(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 56);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lat from image_available message
|
|
*
|
|
* @return GPS X coordinate
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_lat(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 60);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lon from image_available message
|
|
*
|
|
* @return GPS Y coordinate
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_lon(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 64);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field alt from image_available message
|
|
*
|
|
* @return Global frame altitude
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_alt(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 68);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ground_x from image_available message
|
|
*
|
|
* @return Ground truth X
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_ground_x(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 72);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ground_y from image_available message
|
|
*
|
|
* @return Ground truth Y
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_ground_y(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 76);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field ground_z from image_available message
|
|
*
|
|
* @return Ground truth Z
|
|
*/
|
|
static inline float mavlink_msg_image_available_get_ground_z(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 80);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a image_available message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param image_available C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_image_available_decode(const mavlink_message_t* msg, mavlink_image_available_t* image_available)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
|
image_available->cam_id = mavlink_msg_image_available_get_cam_id(msg);
|
|
image_available->timestamp = mavlink_msg_image_available_get_timestamp(msg);
|
|
image_available->valid_until = mavlink_msg_image_available_get_valid_until(msg);
|
|
image_available->img_seq = mavlink_msg_image_available_get_img_seq(msg);
|
|
image_available->img_buf_index = mavlink_msg_image_available_get_img_buf_index(msg);
|
|
image_available->key = mavlink_msg_image_available_get_key(msg);
|
|
image_available->exposure = mavlink_msg_image_available_get_exposure(msg);
|
|
image_available->gain = mavlink_msg_image_available_get_gain(msg);
|
|
image_available->roll = mavlink_msg_image_available_get_roll(msg);
|
|
image_available->pitch = mavlink_msg_image_available_get_pitch(msg);
|
|
image_available->yaw = mavlink_msg_image_available_get_yaw(msg);
|
|
image_available->local_z = mavlink_msg_image_available_get_local_z(msg);
|
|
image_available->lat = mavlink_msg_image_available_get_lat(msg);
|
|
image_available->lon = mavlink_msg_image_available_get_lon(msg);
|
|
image_available->alt = mavlink_msg_image_available_get_alt(msg);
|
|
image_available->ground_x = mavlink_msg_image_available_get_ground_x(msg);
|
|
image_available->ground_y = mavlink_msg_image_available_get_ground_y(msg);
|
|
image_available->ground_z = mavlink_msg_image_available_get_ground_z(msg);
|
|
image_available->width = mavlink_msg_image_available_get_width(msg);
|
|
image_available->height = mavlink_msg_image_available_get_height(msg);
|
|
image_available->depth = mavlink_msg_image_available_get_depth(msg);
|
|
image_available->cam_no = mavlink_msg_image_available_get_cam_no(msg);
|
|
image_available->channels = mavlink_msg_image_available_get_channels(msg);
|
|
#else
|
|
memcpy(image_available, _MAV_PAYLOAD(msg), 92);
|
|
#endif
|
|
}
|