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
339 lines
15 KiB
C
339 lines
15 KiB
C
#pragma once
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// MESSAGE EKF_STATUS_REPORT PACKING
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#define MAVLINK_MSG_ID_EKF_STATUS_REPORT 193
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MAVPACKED(
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typedef struct __mavlink_ekf_status_report_t {
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float velocity_variance; /*< Velocity variance.*/
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float pos_horiz_variance; /*< Horizontal Position variance.*/
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float pos_vert_variance; /*< Vertical Position variance.*/
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float compass_variance; /*< Compass variance.*/
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float terrain_alt_variance; /*< Terrain Altitude variance.*/
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uint16_t flags; /*< Flags.*/
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}) mavlink_ekf_status_report_t;
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#define MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN 22
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#define MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN 22
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#define MAVLINK_MSG_ID_193_LEN 22
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#define MAVLINK_MSG_ID_193_MIN_LEN 22
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#define MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC 71
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#define MAVLINK_MSG_ID_193_CRC 71
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_EKF_STATUS_REPORT { \
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193, \
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"EKF_STATUS_REPORT", \
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6, \
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{ { "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_ekf_status_report_t, flags) }, \
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{ "velocity_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ekf_status_report_t, velocity_variance) }, \
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{ "pos_horiz_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ekf_status_report_t, pos_horiz_variance) }, \
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{ "pos_vert_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ekf_status_report_t, pos_vert_variance) }, \
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{ "compass_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ekf_status_report_t, compass_variance) }, \
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{ "terrain_alt_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ekf_status_report_t, terrain_alt_variance) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_EKF_STATUS_REPORT { \
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"EKF_STATUS_REPORT", \
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6, \
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{ { "flags", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_ekf_status_report_t, flags) }, \
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{ "velocity_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_ekf_status_report_t, velocity_variance) }, \
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{ "pos_horiz_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_ekf_status_report_t, pos_horiz_variance) }, \
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{ "pos_vert_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_ekf_status_report_t, pos_vert_variance) }, \
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{ "compass_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_ekf_status_report_t, compass_variance) }, \
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{ "terrain_alt_variance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_ekf_status_report_t, terrain_alt_variance) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a ekf_status_report 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 flags Flags.
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* @param velocity_variance Velocity variance.
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* @param pos_horiz_variance Horizontal Position variance.
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* @param pos_vert_variance Vertical Position variance.
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* @param compass_variance Compass variance.
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* @param terrain_alt_variance Terrain Altitude variance.
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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_ekf_status_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint16_t flags, float velocity_variance, float pos_horiz_variance, float pos_vert_variance, float compass_variance, float terrain_alt_variance)
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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_EKF_STATUS_REPORT_LEN];
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_mav_put_float(buf, 0, velocity_variance);
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_mav_put_float(buf, 4, pos_horiz_variance);
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_mav_put_float(buf, 8, pos_vert_variance);
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_mav_put_float(buf, 12, compass_variance);
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_mav_put_float(buf, 16, terrain_alt_variance);
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_mav_put_uint16_t(buf, 20, flags);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
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#else
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mavlink_ekf_status_report_t packet;
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packet.velocity_variance = velocity_variance;
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packet.pos_horiz_variance = pos_horiz_variance;
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packet.pos_vert_variance = pos_vert_variance;
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packet.compass_variance = compass_variance;
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packet.terrain_alt_variance = terrain_alt_variance;
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packet.flags = flags;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_EKF_STATUS_REPORT;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
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}
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/**
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* @brief Pack a ekf_status_report 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 flags Flags.
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* @param velocity_variance Velocity variance.
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* @param pos_horiz_variance Horizontal Position variance.
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* @param pos_vert_variance Vertical Position variance.
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* @param compass_variance Compass variance.
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* @param terrain_alt_variance Terrain Altitude variance.
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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_ekf_status_report_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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uint16_t flags,float velocity_variance,float pos_horiz_variance,float pos_vert_variance,float compass_variance,float terrain_alt_variance)
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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_EKF_STATUS_REPORT_LEN];
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_mav_put_float(buf, 0, velocity_variance);
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_mav_put_float(buf, 4, pos_horiz_variance);
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_mav_put_float(buf, 8, pos_vert_variance);
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_mav_put_float(buf, 12, compass_variance);
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_mav_put_float(buf, 16, terrain_alt_variance);
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_mav_put_uint16_t(buf, 20, flags);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
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#else
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mavlink_ekf_status_report_t packet;
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packet.velocity_variance = velocity_variance;
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packet.pos_horiz_variance = pos_horiz_variance;
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packet.pos_vert_variance = pos_vert_variance;
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packet.compass_variance = compass_variance;
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packet.terrain_alt_variance = terrain_alt_variance;
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packet.flags = flags;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_EKF_STATUS_REPORT;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
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}
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/**
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* @brief Encode a ekf_status_report 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 ekf_status_report C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ekf_status_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_ekf_status_report_t* ekf_status_report)
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{
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return mavlink_msg_ekf_status_report_pack(system_id, component_id, msg, ekf_status_report->flags, ekf_status_report->velocity_variance, ekf_status_report->pos_horiz_variance, ekf_status_report->pos_vert_variance, ekf_status_report->compass_variance, ekf_status_report->terrain_alt_variance);
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}
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/**
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* @brief Encode a ekf_status_report 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 ekf_status_report C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_ekf_status_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_ekf_status_report_t* ekf_status_report)
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{
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return mavlink_msg_ekf_status_report_pack_chan(system_id, component_id, chan, msg, ekf_status_report->flags, ekf_status_report->velocity_variance, ekf_status_report->pos_horiz_variance, ekf_status_report->pos_vert_variance, ekf_status_report->compass_variance, ekf_status_report->terrain_alt_variance);
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}
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/**
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* @brief Send a ekf_status_report message
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* @param chan MAVLink channel to send the message
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*
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* @param flags Flags.
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* @param velocity_variance Velocity variance.
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* @param pos_horiz_variance Horizontal Position variance.
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* @param pos_vert_variance Vertical Position variance.
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* @param compass_variance Compass variance.
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* @param terrain_alt_variance Terrain Altitude variance.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_ekf_status_report_send(mavlink_channel_t chan, uint16_t flags, float velocity_variance, float pos_horiz_variance, float pos_vert_variance, float compass_variance, float terrain_alt_variance)
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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_EKF_STATUS_REPORT_LEN];
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_mav_put_float(buf, 0, velocity_variance);
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_mav_put_float(buf, 4, pos_horiz_variance);
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_mav_put_float(buf, 8, pos_vert_variance);
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_mav_put_float(buf, 12, compass_variance);
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_mav_put_float(buf, 16, terrain_alt_variance);
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_mav_put_uint16_t(buf, 20, flags);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
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#else
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mavlink_ekf_status_report_t packet;
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packet.velocity_variance = velocity_variance;
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packet.pos_horiz_variance = pos_horiz_variance;
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packet.pos_vert_variance = pos_vert_variance;
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packet.compass_variance = compass_variance;
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packet.terrain_alt_variance = terrain_alt_variance;
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packet.flags = flags;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, (const char *)&packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
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#endif
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}
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/**
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* @brief Send a ekf_status_report 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_ekf_status_report_send_struct(mavlink_channel_t chan, const mavlink_ekf_status_report_t* ekf_status_report)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_ekf_status_report_send(chan, ekf_status_report->flags, ekf_status_report->velocity_variance, ekf_status_report->pos_horiz_variance, ekf_status_report->pos_vert_variance, ekf_status_report->compass_variance, ekf_status_report->terrain_alt_variance);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, (const char *)ekf_status_report, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_EKF_STATUS_REPORT_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_ekf_status_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint16_t flags, float velocity_variance, float pos_horiz_variance, float pos_vert_variance, float compass_variance, float terrain_alt_variance)
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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_float(buf, 0, velocity_variance);
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_mav_put_float(buf, 4, pos_horiz_variance);
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_mav_put_float(buf, 8, pos_vert_variance);
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_mav_put_float(buf, 12, compass_variance);
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_mav_put_float(buf, 16, terrain_alt_variance);
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_mav_put_uint16_t(buf, 20, flags);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, buf, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_CRC);
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#else
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mavlink_ekf_status_report_t *packet = (mavlink_ekf_status_report_t *)msgbuf;
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packet->velocity_variance = velocity_variance;
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packet->pos_horiz_variance = pos_horiz_variance;
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packet->pos_vert_variance = pos_vert_variance;
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packet->compass_variance = compass_variance;
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packet->terrain_alt_variance = terrain_alt_variance;
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packet->flags = flags;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_EKF_STATUS_REPORT, (const char *)packet, MAVLINK_MSG_ID_EKF_STATUS_REPORT_MIN_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN, MAVLINK_MSG_ID_EKF_STATUS_REPORT_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 EKF_STATUS_REPORT UNPACKING
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/**
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* @brief Get field flags from ekf_status_report message
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*
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* @return Flags.
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*/
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static inline uint16_t mavlink_msg_ekf_status_report_get_flags(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 20);
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}
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/**
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* @brief Get field velocity_variance from ekf_status_report message
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*
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* @return Velocity variance.
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*/
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static inline float mavlink_msg_ekf_status_report_get_velocity_variance(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field pos_horiz_variance from ekf_status_report message
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*
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* @return Horizontal Position variance.
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*/
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static inline float mavlink_msg_ekf_status_report_get_pos_horiz_variance(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field pos_vert_variance from ekf_status_report message
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*
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* @return Vertical Position variance.
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*/
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static inline float mavlink_msg_ekf_status_report_get_pos_vert_variance(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 compass_variance from ekf_status_report message
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*
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* @return Compass variance.
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*/
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static inline float mavlink_msg_ekf_status_report_get_compass_variance(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 terrain_alt_variance from ekf_status_report message
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*
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* @return Terrain Altitude variance.
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*/
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static inline float mavlink_msg_ekf_status_report_get_terrain_alt_variance(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 Decode a ekf_status_report message into a struct
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*
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* @param msg The message to decode
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* @param ekf_status_report C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_ekf_status_report_decode(const mavlink_message_t* msg, mavlink_ekf_status_report_t* ekf_status_report)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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ekf_status_report->velocity_variance = mavlink_msg_ekf_status_report_get_velocity_variance(msg);
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ekf_status_report->pos_horiz_variance = mavlink_msg_ekf_status_report_get_pos_horiz_variance(msg);
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ekf_status_report->pos_vert_variance = mavlink_msg_ekf_status_report_get_pos_vert_variance(msg);
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ekf_status_report->compass_variance = mavlink_msg_ekf_status_report_get_compass_variance(msg);
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ekf_status_report->terrain_alt_variance = mavlink_msg_ekf_status_report_get_terrain_alt_variance(msg);
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ekf_status_report->flags = mavlink_msg_ekf_status_report_get_flags(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN? msg->len : MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN;
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memset(ekf_status_report, 0, MAVLINK_MSG_ID_EKF_STATUS_REPORT_LEN);
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memcpy(ekf_status_report, _MAV_PAYLOAD(msg), len);
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#endif
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}
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