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
414 lines
18 KiB
C
414 lines
18 KiB
C
#pragma once
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// MESSAGE WIND_COV PACKING
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#define MAVLINK_MSG_ID_WIND_COV 231
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MAVPACKED(
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typedef struct __mavlink_wind_cov_t {
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uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
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float wind_x; /*< [m/s] Wind in X (NED) direction*/
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float wind_y; /*< [m/s] Wind in Y (NED) direction*/
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float wind_z; /*< [m/s] Wind in Z (NED) direction*/
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float var_horiz; /*< [m/s] Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.*/
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float var_vert; /*< [m/s] Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.*/
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float wind_alt; /*< [m] Altitude (MSL) that this measurement was taken at*/
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float horiz_accuracy; /*< [m] Horizontal speed 1-STD accuracy*/
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float vert_accuracy; /*< [m] Vertical speed 1-STD accuracy*/
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}) mavlink_wind_cov_t;
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#define MAVLINK_MSG_ID_WIND_COV_LEN 40
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#define MAVLINK_MSG_ID_WIND_COV_MIN_LEN 40
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#define MAVLINK_MSG_ID_231_LEN 40
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#define MAVLINK_MSG_ID_231_MIN_LEN 40
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#define MAVLINK_MSG_ID_WIND_COV_CRC 105
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#define MAVLINK_MSG_ID_231_CRC 105
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_WIND_COV { \
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231, \
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"WIND_COV", \
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9, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_wind_cov_t, time_usec) }, \
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{ "wind_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_wind_cov_t, wind_x) }, \
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{ "wind_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_wind_cov_t, wind_y) }, \
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{ "wind_z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_wind_cov_t, wind_z) }, \
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{ "var_horiz", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_wind_cov_t, var_horiz) }, \
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{ "var_vert", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_wind_cov_t, var_vert) }, \
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{ "wind_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_wind_cov_t, wind_alt) }, \
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{ "horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_wind_cov_t, horiz_accuracy) }, \
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{ "vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_wind_cov_t, vert_accuracy) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_WIND_COV { \
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"WIND_COV", \
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9, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_wind_cov_t, time_usec) }, \
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{ "wind_x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_wind_cov_t, wind_x) }, \
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{ "wind_y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_wind_cov_t, wind_y) }, \
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{ "wind_z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_wind_cov_t, wind_z) }, \
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{ "var_horiz", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_wind_cov_t, var_horiz) }, \
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{ "var_vert", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_wind_cov_t, var_vert) }, \
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{ "wind_alt", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_wind_cov_t, wind_alt) }, \
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{ "horiz_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_wind_cov_t, horiz_accuracy) }, \
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{ "vert_accuracy", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_wind_cov_t, vert_accuracy) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a wind_cov message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param wind_x [m/s] Wind in X (NED) direction
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* @param wind_y [m/s] Wind in Y (NED) direction
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* @param wind_z [m/s] Wind in Z (NED) direction
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* @param var_horiz [m/s] Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.
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* @param var_vert [m/s] Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.
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* @param wind_alt [m] Altitude (MSL) that this measurement was taken at
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* @param horiz_accuracy [m] Horizontal speed 1-STD accuracy
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* @param vert_accuracy [m] Vertical speed 1-STD accuracy
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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_wind_cov_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, float wind_x, float wind_y, float wind_z, float var_horiz, float var_vert, float wind_alt, float horiz_accuracy, float vert_accuracy)
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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_WIND_COV_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, wind_x);
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_mav_put_float(buf, 12, wind_y);
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_mav_put_float(buf, 16, wind_z);
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_mav_put_float(buf, 20, var_horiz);
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_mav_put_float(buf, 24, var_vert);
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_mav_put_float(buf, 28, wind_alt);
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_mav_put_float(buf, 32, horiz_accuracy);
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_mav_put_float(buf, 36, vert_accuracy);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WIND_COV_LEN);
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#else
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mavlink_wind_cov_t packet;
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packet.time_usec = time_usec;
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packet.wind_x = wind_x;
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packet.wind_y = wind_y;
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packet.wind_z = wind_z;
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packet.var_horiz = var_horiz;
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packet.var_vert = var_vert;
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packet.wind_alt = wind_alt;
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packet.horiz_accuracy = horiz_accuracy;
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packet.vert_accuracy = vert_accuracy;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WIND_COV_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_WIND_COV;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_WIND_COV_MIN_LEN, MAVLINK_MSG_ID_WIND_COV_LEN, MAVLINK_MSG_ID_WIND_COV_CRC);
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}
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/**
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* @brief Pack a wind_cov message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param wind_x [m/s] Wind in X (NED) direction
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* @param wind_y [m/s] Wind in Y (NED) direction
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* @param wind_z [m/s] Wind in Z (NED) direction
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* @param var_horiz [m/s] Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.
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* @param var_vert [m/s] Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.
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* @param wind_alt [m] Altitude (MSL) that this measurement was taken at
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* @param horiz_accuracy [m] Horizontal speed 1-STD accuracy
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* @param vert_accuracy [m] Vertical speed 1-STD accuracy
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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_wind_cov_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t time_usec,float wind_x,float wind_y,float wind_z,float var_horiz,float var_vert,float wind_alt,float horiz_accuracy,float vert_accuracy)
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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_WIND_COV_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, wind_x);
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_mav_put_float(buf, 12, wind_y);
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_mav_put_float(buf, 16, wind_z);
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_mav_put_float(buf, 20, var_horiz);
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_mav_put_float(buf, 24, var_vert);
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_mav_put_float(buf, 28, wind_alt);
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_mav_put_float(buf, 32, horiz_accuracy);
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_mav_put_float(buf, 36, vert_accuracy);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_WIND_COV_LEN);
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#else
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mavlink_wind_cov_t packet;
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packet.time_usec = time_usec;
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packet.wind_x = wind_x;
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packet.wind_y = wind_y;
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packet.wind_z = wind_z;
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packet.var_horiz = var_horiz;
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packet.var_vert = var_vert;
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packet.wind_alt = wind_alt;
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packet.horiz_accuracy = horiz_accuracy;
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packet.vert_accuracy = vert_accuracy;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_WIND_COV_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_WIND_COV;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_WIND_COV_MIN_LEN, MAVLINK_MSG_ID_WIND_COV_LEN, MAVLINK_MSG_ID_WIND_COV_CRC);
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}
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/**
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* @brief Encode a wind_cov struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param wind_cov C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_wind_cov_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_wind_cov_t* wind_cov)
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{
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return mavlink_msg_wind_cov_pack(system_id, component_id, msg, wind_cov->time_usec, wind_cov->wind_x, wind_cov->wind_y, wind_cov->wind_z, wind_cov->var_horiz, wind_cov->var_vert, wind_cov->wind_alt, wind_cov->horiz_accuracy, wind_cov->vert_accuracy);
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}
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/**
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* @brief Encode a wind_cov struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param wind_cov C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_wind_cov_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_wind_cov_t* wind_cov)
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{
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return mavlink_msg_wind_cov_pack_chan(system_id, component_id, chan, msg, wind_cov->time_usec, wind_cov->wind_x, wind_cov->wind_y, wind_cov->wind_z, wind_cov->var_horiz, wind_cov->var_vert, wind_cov->wind_alt, wind_cov->horiz_accuracy, wind_cov->vert_accuracy);
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}
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/**
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* @brief Send a wind_cov message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param wind_x [m/s] Wind in X (NED) direction
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* @param wind_y [m/s] Wind in Y (NED) direction
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* @param wind_z [m/s] Wind in Z (NED) direction
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* @param var_horiz [m/s] Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.
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* @param var_vert [m/s] Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.
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* @param wind_alt [m] Altitude (MSL) that this measurement was taken at
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* @param horiz_accuracy [m] Horizontal speed 1-STD accuracy
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* @param vert_accuracy [m] Vertical speed 1-STD accuracy
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_wind_cov_send(mavlink_channel_t chan, uint64_t time_usec, float wind_x, float wind_y, float wind_z, float var_horiz, float var_vert, float wind_alt, float horiz_accuracy, float vert_accuracy)
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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_WIND_COV_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, wind_x);
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_mav_put_float(buf, 12, wind_y);
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_mav_put_float(buf, 16, wind_z);
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_mav_put_float(buf, 20, var_horiz);
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_mav_put_float(buf, 24, var_vert);
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_mav_put_float(buf, 28, wind_alt);
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_mav_put_float(buf, 32, horiz_accuracy);
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_mav_put_float(buf, 36, vert_accuracy);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND_COV, buf, MAVLINK_MSG_ID_WIND_COV_MIN_LEN, MAVLINK_MSG_ID_WIND_COV_LEN, MAVLINK_MSG_ID_WIND_COV_CRC);
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#else
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mavlink_wind_cov_t packet;
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packet.time_usec = time_usec;
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packet.wind_x = wind_x;
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packet.wind_y = wind_y;
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packet.wind_z = wind_z;
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packet.var_horiz = var_horiz;
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packet.var_vert = var_vert;
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packet.wind_alt = wind_alt;
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packet.horiz_accuracy = horiz_accuracy;
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packet.vert_accuracy = vert_accuracy;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND_COV, (const char *)&packet, MAVLINK_MSG_ID_WIND_COV_MIN_LEN, MAVLINK_MSG_ID_WIND_COV_LEN, MAVLINK_MSG_ID_WIND_COV_CRC);
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#endif
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}
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/**
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* @brief Send a wind_cov message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_wind_cov_send_struct(mavlink_channel_t chan, const mavlink_wind_cov_t* wind_cov)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_wind_cov_send(chan, wind_cov->time_usec, wind_cov->wind_x, wind_cov->wind_y, wind_cov->wind_z, wind_cov->var_horiz, wind_cov->var_vert, wind_cov->wind_alt, wind_cov->horiz_accuracy, wind_cov->vert_accuracy);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND_COV, (const char *)wind_cov, MAVLINK_MSG_ID_WIND_COV_MIN_LEN, MAVLINK_MSG_ID_WIND_COV_LEN, MAVLINK_MSG_ID_WIND_COV_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_WIND_COV_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_wind_cov_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, float wind_x, float wind_y, float wind_z, float var_horiz, float var_vert, float wind_alt, float horiz_accuracy, float vert_accuracy)
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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, wind_x);
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_mav_put_float(buf, 12, wind_y);
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_mav_put_float(buf, 16, wind_z);
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_mav_put_float(buf, 20, var_horiz);
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_mav_put_float(buf, 24, var_vert);
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_mav_put_float(buf, 28, wind_alt);
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_mav_put_float(buf, 32, horiz_accuracy);
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_mav_put_float(buf, 36, vert_accuracy);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND_COV, buf, MAVLINK_MSG_ID_WIND_COV_MIN_LEN, MAVLINK_MSG_ID_WIND_COV_LEN, MAVLINK_MSG_ID_WIND_COV_CRC);
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#else
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mavlink_wind_cov_t *packet = (mavlink_wind_cov_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->wind_x = wind_x;
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packet->wind_y = wind_y;
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packet->wind_z = wind_z;
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packet->var_horiz = var_horiz;
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packet->var_vert = var_vert;
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packet->wind_alt = wind_alt;
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packet->horiz_accuracy = horiz_accuracy;
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packet->vert_accuracy = vert_accuracy;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_WIND_COV, (const char *)packet, MAVLINK_MSG_ID_WIND_COV_MIN_LEN, MAVLINK_MSG_ID_WIND_COV_LEN, MAVLINK_MSG_ID_WIND_COV_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE WIND_COV UNPACKING
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/**
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* @brief Get field time_usec from wind_cov message
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*
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* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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*/
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static inline uint64_t mavlink_msg_wind_cov_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field wind_x from wind_cov message
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*
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* @return [m/s] Wind in X (NED) direction
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*/
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static inline float mavlink_msg_wind_cov_get_wind_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 wind_y from wind_cov message
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*
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* @return [m/s] Wind in Y (NED) direction
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*/
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static inline float mavlink_msg_wind_cov_get_wind_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field wind_z from wind_cov message
|
|
*
|
|
* @return [m/s] Wind in Z (NED) direction
|
|
*/
|
|
static inline float mavlink_msg_wind_cov_get_wind_z(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field var_horiz from wind_cov message
|
|
*
|
|
* @return [m/s] Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.
|
|
*/
|
|
static inline float mavlink_msg_wind_cov_get_var_horiz(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field var_vert from wind_cov message
|
|
*
|
|
* @return [m/s] Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.
|
|
*/
|
|
static inline float mavlink_msg_wind_cov_get_var_vert(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field wind_alt from wind_cov message
|
|
*
|
|
* @return [m] Altitude (MSL) that this measurement was taken at
|
|
*/
|
|
static inline float mavlink_msg_wind_cov_get_wind_alt(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field horiz_accuracy from wind_cov message
|
|
*
|
|
* @return [m] Horizontal speed 1-STD accuracy
|
|
*/
|
|
static inline float mavlink_msg_wind_cov_get_horiz_accuracy(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vert_accuracy from wind_cov message
|
|
*
|
|
* @return [m] Vertical speed 1-STD accuracy
|
|
*/
|
|
static inline float mavlink_msg_wind_cov_get_vert_accuracy(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a wind_cov message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param wind_cov C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_wind_cov_decode(const mavlink_message_t* msg, mavlink_wind_cov_t* wind_cov)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
wind_cov->time_usec = mavlink_msg_wind_cov_get_time_usec(msg);
|
|
wind_cov->wind_x = mavlink_msg_wind_cov_get_wind_x(msg);
|
|
wind_cov->wind_y = mavlink_msg_wind_cov_get_wind_y(msg);
|
|
wind_cov->wind_z = mavlink_msg_wind_cov_get_wind_z(msg);
|
|
wind_cov->var_horiz = mavlink_msg_wind_cov_get_var_horiz(msg);
|
|
wind_cov->var_vert = mavlink_msg_wind_cov_get_var_vert(msg);
|
|
wind_cov->wind_alt = mavlink_msg_wind_cov_get_wind_alt(msg);
|
|
wind_cov->horiz_accuracy = mavlink_msg_wind_cov_get_horiz_accuracy(msg);
|
|
wind_cov->vert_accuracy = mavlink_msg_wind_cov_get_vert_accuracy(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_WIND_COV_LEN? msg->len : MAVLINK_MSG_ID_WIND_COV_LEN;
|
|
memset(wind_cov, 0, MAVLINK_MSG_ID_WIND_COV_LEN);
|
|
memcpy(wind_cov, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|