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
539 lines
26 KiB
C
539 lines
26 KiB
C
#pragma once
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// MESSAGE POSITION_TARGET_LOCAL_NED PACKING
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#define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED 85
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MAVPACKED(
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typedef struct __mavlink_position_target_local_ned_t {
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uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
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float x; /*< [m] X Position in NED frame*/
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float y; /*< [m] Y Position in NED frame*/
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float z; /*< [m] Z Position in NED frame (note, altitude is negative in NED)*/
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float vx; /*< [m/s] X velocity in NED frame*/
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float vy; /*< [m/s] Y velocity in NED frame*/
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float vz; /*< [m/s] Z velocity in NED frame*/
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float afx; /*< [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
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float afy; /*< [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
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float afz; /*< [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N*/
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float yaw; /*< [rad] yaw setpoint*/
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float yaw_rate; /*< [rad/s] yaw rate setpoint*/
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uint16_t type_mask; /*< Bitmap to indicate which dimensions should be ignored by the vehicle.*/
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uint8_t coordinate_frame; /*< Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9*/
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}) mavlink_position_target_local_ned_t;
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#define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN 51
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#define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN 51
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#define MAVLINK_MSG_ID_85_LEN 51
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#define MAVLINK_MSG_ID_85_MIN_LEN 51
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#define MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC 140
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#define MAVLINK_MSG_ID_85_CRC 140
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_POSITION_TARGET_LOCAL_NED { \
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85, \
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"POSITION_TARGET_LOCAL_NED", \
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14, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_position_target_local_ned_t, time_boot_ms) }, \
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{ "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_position_target_local_ned_t, coordinate_frame) }, \
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{ "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_position_target_local_ned_t, type_mask) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_local_ned_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_local_ned_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_local_ned_t, z) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_position_target_local_ned_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_position_target_local_ned_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_position_target_local_ned_t, vz) }, \
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{ "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_position_target_local_ned_t, afx) }, \
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{ "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_position_target_local_ned_t, afy) }, \
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{ "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_position_target_local_ned_t, afz) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_position_target_local_ned_t, yaw) }, \
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{ "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_position_target_local_ned_t, yaw_rate) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_POSITION_TARGET_LOCAL_NED { \
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"POSITION_TARGET_LOCAL_NED", \
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14, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_position_target_local_ned_t, time_boot_ms) }, \
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{ "coordinate_frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 50, offsetof(mavlink_position_target_local_ned_t, coordinate_frame) }, \
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{ "type_mask", NULL, MAVLINK_TYPE_UINT16_T, 0, 48, offsetof(mavlink_position_target_local_ned_t, type_mask) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_position_target_local_ned_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_position_target_local_ned_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_position_target_local_ned_t, z) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_position_target_local_ned_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_position_target_local_ned_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_position_target_local_ned_t, vz) }, \
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{ "afx", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_position_target_local_ned_t, afx) }, \
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{ "afy", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_position_target_local_ned_t, afy) }, \
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{ "afz", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_position_target_local_ned_t, afz) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_position_target_local_ned_t, yaw) }, \
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{ "yaw_rate", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_position_target_local_ned_t, yaw_rate) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a position_target_local_ned 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_boot_ms [ms] Timestamp (time since system boot).
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* @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
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* @param type_mask Bitmap to indicate which dimensions should be ignored by the vehicle.
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* @param x [m] X Position in NED frame
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* @param y [m] Y Position in NED frame
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* @param z [m] Z Position in NED frame (note, altitude is negative in NED)
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* @param vx [m/s] X velocity in NED frame
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* @param vy [m/s] Y velocity in NED frame
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* @param vz [m/s] Z velocity in NED frame
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* @param afx [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
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* @param afy [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
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* @param afz [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
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* @param yaw [rad] yaw setpoint
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* @param yaw_rate [rad/s] yaw rate setpoint
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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_position_target_local_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
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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_POSITION_TARGET_LOCAL_NED_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, x);
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_mav_put_float(buf, 8, y);
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_mav_put_float(buf, 12, z);
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_mav_put_float(buf, 16, vx);
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_mav_put_float(buf, 20, vy);
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_mav_put_float(buf, 24, vz);
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_mav_put_float(buf, 28, afx);
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_mav_put_float(buf, 32, afy);
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_mav_put_float(buf, 36, afz);
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_mav_put_float(buf, 40, yaw);
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_mav_put_float(buf, 44, yaw_rate);
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_mav_put_uint16_t(buf, 48, type_mask);
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_mav_put_uint8_t(buf, 50, coordinate_frame);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
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#else
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mavlink_position_target_local_ned_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.afx = afx;
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packet.afy = afy;
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packet.afz = afz;
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packet.yaw = yaw;
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packet.yaw_rate = yaw_rate;
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packet.type_mask = type_mask;
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packet.coordinate_frame = coordinate_frame;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
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}
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/**
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* @brief Pack a position_target_local_ned 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_boot_ms [ms] Timestamp (time since system boot).
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* @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
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* @param type_mask Bitmap to indicate which dimensions should be ignored by the vehicle.
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* @param x [m] X Position in NED frame
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* @param y [m] Y Position in NED frame
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* @param z [m] Z Position in NED frame (note, altitude is negative in NED)
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* @param vx [m/s] X velocity in NED frame
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* @param vy [m/s] Y velocity in NED frame
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* @param vz [m/s] Z velocity in NED frame
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* @param afx [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
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* @param afy [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
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* @param afz [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
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* @param yaw [rad] yaw setpoint
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* @param yaw_rate [rad/s] yaw rate setpoint
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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_position_target_local_ned_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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uint32_t time_boot_ms,uint8_t coordinate_frame,uint16_t type_mask,float x,float y,float z,float vx,float vy,float vz,float afx,float afy,float afz,float yaw,float yaw_rate)
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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_POSITION_TARGET_LOCAL_NED_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, x);
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_mav_put_float(buf, 8, y);
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_mav_put_float(buf, 12, z);
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_mav_put_float(buf, 16, vx);
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_mav_put_float(buf, 20, vy);
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_mav_put_float(buf, 24, vz);
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_mav_put_float(buf, 28, afx);
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_mav_put_float(buf, 32, afy);
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_mav_put_float(buf, 36, afz);
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_mav_put_float(buf, 40, yaw);
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_mav_put_float(buf, 44, yaw_rate);
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_mav_put_uint16_t(buf, 48, type_mask);
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_mav_put_uint8_t(buf, 50, coordinate_frame);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
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#else
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mavlink_position_target_local_ned_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.afx = afx;
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packet.afy = afy;
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packet.afz = afz;
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packet.yaw = yaw;
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packet.yaw_rate = yaw_rate;
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packet.type_mask = type_mask;
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packet.coordinate_frame = coordinate_frame;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
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}
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/**
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* @brief Encode a position_target_local_ned 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 position_target_local_ned C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_position_target_local_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_position_target_local_ned_t* position_target_local_ned)
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{
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return mavlink_msg_position_target_local_ned_pack(system_id, component_id, msg, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate);
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}
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/**
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* @brief Encode a position_target_local_ned 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 position_target_local_ned C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_position_target_local_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_position_target_local_ned_t* position_target_local_ned)
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{
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return mavlink_msg_position_target_local_ned_pack_chan(system_id, component_id, chan, msg, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate);
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}
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/**
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* @brief Send a position_target_local_ned message
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* @param chan MAVLink channel to send the message
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*
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* @param time_boot_ms [ms] Timestamp (time since system boot).
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* @param coordinate_frame Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
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* @param type_mask Bitmap to indicate which dimensions should be ignored by the vehicle.
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* @param x [m] X Position in NED frame
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* @param y [m] Y Position in NED frame
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* @param z [m] Z Position in NED frame (note, altitude is negative in NED)
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* @param vx [m/s] X velocity in NED frame
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* @param vy [m/s] Y velocity in NED frame
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* @param vz [m/s] Z velocity in NED frame
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* @param afx [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
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* @param afy [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
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* @param afz [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
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* @param yaw [rad] yaw setpoint
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* @param yaw_rate [rad/s] yaw rate setpoint
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_position_target_local_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
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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_POSITION_TARGET_LOCAL_NED_LEN];
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_mav_put_uint32_t(buf, 0, time_boot_ms);
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_mav_put_float(buf, 4, x);
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_mav_put_float(buf, 8, y);
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_mav_put_float(buf, 12, z);
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_mav_put_float(buf, 16, vx);
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_mav_put_float(buf, 20, vy);
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_mav_put_float(buf, 24, vz);
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_mav_put_float(buf, 28, afx);
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_mav_put_float(buf, 32, afy);
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_mav_put_float(buf, 36, afz);
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_mav_put_float(buf, 40, yaw);
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_mav_put_float(buf, 44, yaw_rate);
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_mav_put_uint16_t(buf, 48, type_mask);
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_mav_put_uint8_t(buf, 50, coordinate_frame);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
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#else
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mavlink_position_target_local_ned_t packet;
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packet.time_boot_ms = time_boot_ms;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.afx = afx;
|
|
packet.afy = afy;
|
|
packet.afz = afz;
|
|
packet.yaw = yaw;
|
|
packet.yaw_rate = yaw_rate;
|
|
packet.type_mask = type_mask;
|
|
packet.coordinate_frame = coordinate_frame;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)&packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
|
|
#endif
|
|
}
|
|
|
|
/**
|
|
* @brief Send a position_target_local_ned message
|
|
* @param chan MAVLink channel to send the message
|
|
* @param struct The MAVLink struct to serialize
|
|
*/
|
|
static inline void mavlink_msg_position_target_local_ned_send_struct(mavlink_channel_t chan, const mavlink_position_target_local_ned_t* position_target_local_ned)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
mavlink_msg_position_target_local_ned_send(chan, position_target_local_ned->time_boot_ms, position_target_local_ned->coordinate_frame, position_target_local_ned->type_mask, position_target_local_ned->x, position_target_local_ned->y, position_target_local_ned->z, position_target_local_ned->vx, position_target_local_ned->vy, position_target_local_ned->vz, position_target_local_ned->afx, position_target_local_ned->afy, position_target_local_ned->afz, position_target_local_ned->yaw, position_target_local_ned->yaw_rate);
|
|
#else
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)position_target_local_ned, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
|
|
#endif
|
|
}
|
|
|
|
#if MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
|
/*
|
|
This varient of _send() can be used to save stack space by re-using
|
|
memory from the receive buffer. The caller provides a
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
|
is usually the receive buffer for the channel, and allows a reply to an
|
|
incoming message with minimum stack space usage.
|
|
*/
|
|
static inline void mavlink_msg_position_target_local_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t coordinate_frame, uint16_t type_mask, float x, float y, float z, float vx, float vy, float vz, float afx, float afy, float afz, float yaw, float yaw_rate)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
char *buf = (char *)msgbuf;
|
|
_mav_put_uint32_t(buf, 0, time_boot_ms);
|
|
_mav_put_float(buf, 4, x);
|
|
_mav_put_float(buf, 8, y);
|
|
_mav_put_float(buf, 12, z);
|
|
_mav_put_float(buf, 16, vx);
|
|
_mav_put_float(buf, 20, vy);
|
|
_mav_put_float(buf, 24, vz);
|
|
_mav_put_float(buf, 28, afx);
|
|
_mav_put_float(buf, 32, afy);
|
|
_mav_put_float(buf, 36, afz);
|
|
_mav_put_float(buf, 40, yaw);
|
|
_mav_put_float(buf, 44, yaw_rate);
|
|
_mav_put_uint16_t(buf, 48, type_mask);
|
|
_mav_put_uint8_t(buf, 50, coordinate_frame);
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, buf, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
|
|
#else
|
|
mavlink_position_target_local_ned_t *packet = (mavlink_position_target_local_ned_t *)msgbuf;
|
|
packet->time_boot_ms = time_boot_ms;
|
|
packet->x = x;
|
|
packet->y = y;
|
|
packet->z = z;
|
|
packet->vx = vx;
|
|
packet->vy = vy;
|
|
packet->vz = vz;
|
|
packet->afx = afx;
|
|
packet->afy = afy;
|
|
packet->afz = afz;
|
|
packet->yaw = yaw;
|
|
packet->yaw_rate = yaw_rate;
|
|
packet->type_mask = type_mask;
|
|
packet->coordinate_frame = coordinate_frame;
|
|
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED, (const char *)packet, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_MIN_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE POSITION_TARGET_LOCAL_NED UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field time_boot_ms from position_target_local_ned message
|
|
*
|
|
* @return [ms] Timestamp (time since system boot).
|
|
*/
|
|
static inline uint32_t mavlink_msg_position_target_local_ned_get_time_boot_ms(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint32_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field coordinate_frame from position_target_local_ned message
|
|
*
|
|
* @return Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
|
|
*/
|
|
static inline uint8_t mavlink_msg_position_target_local_ned_get_coordinate_frame(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 50);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field type_mask from position_target_local_ned message
|
|
*
|
|
* @return Bitmap to indicate which dimensions should be ignored by the vehicle.
|
|
*/
|
|
static inline uint16_t mavlink_msg_position_target_local_ned_get_type_mask(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint16_t(msg, 48);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field x from position_target_local_ned message
|
|
*
|
|
* @return [m] X Position in NED frame
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_x(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 4);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field y from position_target_local_ned message
|
|
*
|
|
* @return [m] Y Position in NED frame
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_y(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field z from position_target_local_ned message
|
|
*
|
|
* @return [m] Z Position in NED frame (note, altitude is negative in NED)
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_z(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 12);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vx from position_target_local_ned message
|
|
*
|
|
* @return [m/s] X velocity in NED frame
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_vx(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vy from position_target_local_ned message
|
|
*
|
|
* @return [m/s] Y velocity in NED frame
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_vy(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vz from position_target_local_ned message
|
|
*
|
|
* @return [m/s] Z velocity in NED frame
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_vz(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field afx from position_target_local_ned message
|
|
*
|
|
* @return [m/s/s] X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_afx(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field afy from position_target_local_ned message
|
|
*
|
|
* @return [m/s/s] Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_afy(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 32);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field afz from position_target_local_ned message
|
|
*
|
|
* @return [m/s/s] Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_afz(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 36);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field yaw from position_target_local_ned message
|
|
*
|
|
* @return [rad] yaw setpoint
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_yaw(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field yaw_rate from position_target_local_ned message
|
|
*
|
|
* @return [rad/s] yaw rate setpoint
|
|
*/
|
|
static inline float mavlink_msg_position_target_local_ned_get_yaw_rate(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 44);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a position_target_local_ned message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param position_target_local_ned C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_position_target_local_ned_decode(const mavlink_message_t* msg, mavlink_position_target_local_ned_t* position_target_local_ned)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
position_target_local_ned->time_boot_ms = mavlink_msg_position_target_local_ned_get_time_boot_ms(msg);
|
|
position_target_local_ned->x = mavlink_msg_position_target_local_ned_get_x(msg);
|
|
position_target_local_ned->y = mavlink_msg_position_target_local_ned_get_y(msg);
|
|
position_target_local_ned->z = mavlink_msg_position_target_local_ned_get_z(msg);
|
|
position_target_local_ned->vx = mavlink_msg_position_target_local_ned_get_vx(msg);
|
|
position_target_local_ned->vy = mavlink_msg_position_target_local_ned_get_vy(msg);
|
|
position_target_local_ned->vz = mavlink_msg_position_target_local_ned_get_vz(msg);
|
|
position_target_local_ned->afx = mavlink_msg_position_target_local_ned_get_afx(msg);
|
|
position_target_local_ned->afy = mavlink_msg_position_target_local_ned_get_afy(msg);
|
|
position_target_local_ned->afz = mavlink_msg_position_target_local_ned_get_afz(msg);
|
|
position_target_local_ned->yaw = mavlink_msg_position_target_local_ned_get_yaw(msg);
|
|
position_target_local_ned->yaw_rate = mavlink_msg_position_target_local_ned_get_yaw_rate(msg);
|
|
position_target_local_ned->type_mask = mavlink_msg_position_target_local_ned_get_type_mask(msg);
|
|
position_target_local_ned->coordinate_frame = mavlink_msg_position_target_local_ned_get_coordinate_frame(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN? msg->len : MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN;
|
|
memset(position_target_local_ned, 0, MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED_LEN);
|
|
memcpy(position_target_local_ned, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|