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
389 lines
17 KiB
C
389 lines
17 KiB
C
#pragma once
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// MESSAGE LANDING_TARGET PACKING
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#define MAVLINK_MSG_ID_LANDING_TARGET 149
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MAVPACKED(
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typedef struct __mavlink_landing_target_t {
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uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
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float angle_x; /*< [rad] X-axis angular offset of the target from the center of the image*/
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float angle_y; /*< [rad] Y-axis angular offset of the target from the center of the image*/
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float distance; /*< [m] Distance to the target from the vehicle*/
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float size_x; /*< [rad] Size of target along x-axis*/
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float size_y; /*< [rad] Size of target along y-axis*/
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uint8_t target_num; /*< The ID of the target if multiple targets are present*/
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uint8_t frame; /*< Coordinate frame used for following fields.*/
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}) mavlink_landing_target_t;
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#define MAVLINK_MSG_ID_LANDING_TARGET_LEN 30
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#define MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN 30
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#define MAVLINK_MSG_ID_149_LEN 30
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#define MAVLINK_MSG_ID_149_MIN_LEN 30
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#define MAVLINK_MSG_ID_LANDING_TARGET_CRC 200
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#define MAVLINK_MSG_ID_149_CRC 200
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_LANDING_TARGET { \
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149, \
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"LANDING_TARGET", \
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8, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_landing_target_t, time_usec) }, \
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{ "target_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_landing_target_t, target_num) }, \
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{ "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_landing_target_t, frame) }, \
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{ "angle_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_landing_target_t, angle_x) }, \
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{ "angle_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_landing_target_t, angle_y) }, \
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{ "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_landing_target_t, distance) }, \
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{ "size_x", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_landing_target_t, size_x) }, \
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{ "size_y", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_landing_target_t, size_y) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_LANDING_TARGET { \
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"LANDING_TARGET", \
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8, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_landing_target_t, time_usec) }, \
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{ "target_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 28, offsetof(mavlink_landing_target_t, target_num) }, \
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{ "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 29, offsetof(mavlink_landing_target_t, frame) }, \
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{ "angle_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_landing_target_t, angle_x) }, \
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{ "angle_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_landing_target_t, angle_y) }, \
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{ "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_landing_target_t, distance) }, \
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{ "size_x", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_landing_target_t, size_x) }, \
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{ "size_y", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_landing_target_t, size_y) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a landing_target message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param target_num The ID of the target if multiple targets are present
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* @param frame Coordinate frame used for following fields.
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* @param angle_x [rad] X-axis angular offset of the target from the center of the image
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* @param angle_y [rad] Y-axis angular offset of the target from the center of the image
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* @param distance [m] Distance to the target from the vehicle
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* @param size_x [rad] Size of target along x-axis
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* @param size_y [rad] Size of target along y-axis
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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_landing_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance, float size_x, float size_y)
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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_LANDING_TARGET_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, angle_x);
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_mav_put_float(buf, 12, angle_y);
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_mav_put_float(buf, 16, distance);
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_mav_put_float(buf, 20, size_x);
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_mav_put_float(buf, 24, size_y);
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_mav_put_uint8_t(buf, 28, target_num);
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_mav_put_uint8_t(buf, 29, frame);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
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#else
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mavlink_landing_target_t packet;
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packet.time_usec = time_usec;
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packet.angle_x = angle_x;
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packet.angle_y = angle_y;
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packet.distance = distance;
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packet.size_x = size_x;
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packet.size_y = size_y;
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packet.target_num = target_num;
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packet.frame = frame;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_LANDING_TARGET;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
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}
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/**
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* @brief Pack a landing_target message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param target_num The ID of the target if multiple targets are present
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* @param frame Coordinate frame used for following fields.
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* @param angle_x [rad] X-axis angular offset of the target from the center of the image
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* @param angle_y [rad] Y-axis angular offset of the target from the center of the image
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* @param distance [m] Distance to the target from the vehicle
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* @param size_x [rad] Size of target along x-axis
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* @param size_y [rad] Size of target along y-axis
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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_landing_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t time_usec,uint8_t target_num,uint8_t frame,float angle_x,float angle_y,float distance,float size_x,float size_y)
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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_LANDING_TARGET_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, angle_x);
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_mav_put_float(buf, 12, angle_y);
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_mav_put_float(buf, 16, distance);
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_mav_put_float(buf, 20, size_x);
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_mav_put_float(buf, 24, size_y);
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_mav_put_uint8_t(buf, 28, target_num);
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_mav_put_uint8_t(buf, 29, frame);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
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#else
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mavlink_landing_target_t packet;
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packet.time_usec = time_usec;
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packet.angle_x = angle_x;
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packet.angle_y = angle_y;
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packet.distance = distance;
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packet.size_x = size_x;
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packet.size_y = size_y;
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packet.target_num = target_num;
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packet.frame = frame;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_LANDING_TARGET;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
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}
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/**
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* @brief Encode a landing_target 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 landing_target C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_landing_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_landing_target_t* landing_target)
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{
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return mavlink_msg_landing_target_pack(system_id, component_id, msg, landing_target->time_usec, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance, landing_target->size_x, landing_target->size_y);
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}
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/**
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* @brief Encode a landing_target 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 landing_target C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_landing_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_landing_target_t* landing_target)
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{
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return mavlink_msg_landing_target_pack_chan(system_id, component_id, chan, msg, landing_target->time_usec, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance, landing_target->size_x, landing_target->size_y);
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}
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/**
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* @brief Send a landing_target message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param target_num The ID of the target if multiple targets are present
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* @param frame Coordinate frame used for following fields.
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* @param angle_x [rad] X-axis angular offset of the target from the center of the image
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* @param angle_y [rad] Y-axis angular offset of the target from the center of the image
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* @param distance [m] Distance to the target from the vehicle
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* @param size_x [rad] Size of target along x-axis
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* @param size_y [rad] Size of target along y-axis
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_landing_target_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance, float size_x, float size_y)
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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_LANDING_TARGET_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, angle_x);
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_mav_put_float(buf, 12, angle_y);
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_mav_put_float(buf, 16, distance);
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_mav_put_float(buf, 20, size_x);
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_mav_put_float(buf, 24, size_y);
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_mav_put_uint8_t(buf, 28, target_num);
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_mav_put_uint8_t(buf, 29, frame);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
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#else
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mavlink_landing_target_t packet;
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packet.time_usec = time_usec;
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packet.angle_x = angle_x;
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packet.angle_y = angle_y;
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packet.distance = distance;
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packet.size_x = size_x;
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packet.size_y = size_y;
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packet.target_num = target_num;
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packet.frame = frame;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)&packet, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
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#endif
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}
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/**
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* @brief Send a landing_target 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_landing_target_send_struct(mavlink_channel_t chan, const mavlink_landing_target_t* landing_target)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_landing_target_send(chan, landing_target->time_usec, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance, landing_target->size_x, landing_target->size_y);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)landing_target, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_LANDING_TARGET_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_landing_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance, float size_x, float size_y)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, angle_x);
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_mav_put_float(buf, 12, angle_y);
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_mav_put_float(buf, 16, distance);
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_mav_put_float(buf, 20, size_x);
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_mav_put_float(buf, 24, size_y);
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_mav_put_uint8_t(buf, 28, target_num);
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_mav_put_uint8_t(buf, 29, frame);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
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#else
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mavlink_landing_target_t *packet = (mavlink_landing_target_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->angle_x = angle_x;
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packet->angle_y = angle_y;
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packet->distance = distance;
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packet->size_x = size_x;
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packet->size_y = size_y;
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packet->target_num = target_num;
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packet->frame = frame;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)packet, MAVLINK_MSG_ID_LANDING_TARGET_MIN_LEN, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_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 LANDING_TARGET UNPACKING
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/**
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* @brief Get field time_usec from landing_target message
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*
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* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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*/
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static inline uint64_t mavlink_msg_landing_target_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field target_num from landing_target message
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*
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* @return The ID of the target if multiple targets are present
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*/
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static inline uint8_t mavlink_msg_landing_target_get_target_num(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 28);
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}
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/**
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* @brief Get field frame from landing_target message
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*
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* @return Coordinate frame used for following fields.
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*/
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static inline uint8_t mavlink_msg_landing_target_get_frame(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint8_t(msg, 29);
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}
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/**
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* @brief Get field angle_x from landing_target message
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*
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* @return [rad] X-axis angular offset of the target from the center of the image
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*/
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static inline float mavlink_msg_landing_target_get_angle_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 8);
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}
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/**
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* @brief Get field angle_y from landing_target message
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*
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* @return [rad] Y-axis angular offset of the target from the center of the image
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*/
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static inline float mavlink_msg_landing_target_get_angle_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field distance from landing_target message
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*
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* @return [m] Distance to the target from the vehicle
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*/
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static inline float mavlink_msg_landing_target_get_distance(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 size_x from landing_target message
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*
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* @return [rad] Size of target along x-axis
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*/
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static inline float mavlink_msg_landing_target_get_size_x(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 size_y from landing_target message
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*
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* @return [rad] Size of target along y-axis
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*/
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static inline float mavlink_msg_landing_target_get_size_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Decode a landing_target message into a struct
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*
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* @param msg The message to decode
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* @param landing_target C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_landing_target_decode(const mavlink_message_t* msg, mavlink_landing_target_t* landing_target)
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|
{
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|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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landing_target->time_usec = mavlink_msg_landing_target_get_time_usec(msg);
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landing_target->angle_x = mavlink_msg_landing_target_get_angle_x(msg);
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landing_target->angle_y = mavlink_msg_landing_target_get_angle_y(msg);
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landing_target->distance = mavlink_msg_landing_target_get_distance(msg);
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landing_target->size_x = mavlink_msg_landing_target_get_size_x(msg);
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landing_target->size_y = mavlink_msg_landing_target_get_size_y(msg);
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landing_target->target_num = mavlink_msg_landing_target_get_target_num(msg);
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landing_target->frame = mavlink_msg_landing_target_get_frame(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_LANDING_TARGET_LEN? msg->len : MAVLINK_MSG_ID_LANDING_TARGET_LEN;
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|
memset(landing_target, 0, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
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memcpy(landing_target, _MAV_PAYLOAD(msg), len);
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#endif
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|
}
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