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
460 lines
21 KiB
C
460 lines
21 KiB
C
#pragma once
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// MESSAGE FOLLOW_TARGET PACKING
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#define MAVLINK_MSG_ID_FOLLOW_TARGET 144
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MAVPACKED(
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typedef struct __mavlink_follow_target_t {
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uint64_t timestamp; /*< [ms] Timestamp (time since system boot).*/
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uint64_t custom_state; /*< button states or switches of a tracker device*/
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int32_t lat; /*< [degE7] Latitude (WGS84)*/
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int32_t lon; /*< [degE7] Longitude (WGS84)*/
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float alt; /*< [m] Altitude (MSL)*/
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float vel[3]; /*< [m/s] target velocity (0,0,0) for unknown*/
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float acc[3]; /*< [m/s/s] linear target acceleration (0,0,0) for unknown*/
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float attitude_q[4]; /*< (1 0 0 0 for unknown)*/
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float rates[3]; /*< (0 0 0 for unknown)*/
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float position_cov[3]; /*< eph epv*/
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uint8_t est_capabilities; /*< bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)*/
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}) mavlink_follow_target_t;
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#define MAVLINK_MSG_ID_FOLLOW_TARGET_LEN 93
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#define MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN 93
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#define MAVLINK_MSG_ID_144_LEN 93
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#define MAVLINK_MSG_ID_144_MIN_LEN 93
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#define MAVLINK_MSG_ID_FOLLOW_TARGET_CRC 127
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#define MAVLINK_MSG_ID_144_CRC 127
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#define MAVLINK_MSG_FOLLOW_TARGET_FIELD_VEL_LEN 3
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#define MAVLINK_MSG_FOLLOW_TARGET_FIELD_ACC_LEN 3
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#define MAVLINK_MSG_FOLLOW_TARGET_FIELD_ATTITUDE_Q_LEN 4
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#define MAVLINK_MSG_FOLLOW_TARGET_FIELD_RATES_LEN 3
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#define MAVLINK_MSG_FOLLOW_TARGET_FIELD_POSITION_COV_LEN 3
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_FOLLOW_TARGET { \
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144, \
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"FOLLOW_TARGET", \
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11, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_follow_target_t, timestamp) }, \
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{ "est_capabilities", NULL, MAVLINK_TYPE_UINT8_T, 0, 92, offsetof(mavlink_follow_target_t, est_capabilities) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_follow_target_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_follow_target_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_follow_target_t, alt) }, \
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{ "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_follow_target_t, vel) }, \
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{ "acc", NULL, MAVLINK_TYPE_FLOAT, 3, 40, offsetof(mavlink_follow_target_t, acc) }, \
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{ "attitude_q", NULL, MAVLINK_TYPE_FLOAT, 4, 52, offsetof(mavlink_follow_target_t, attitude_q) }, \
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{ "rates", NULL, MAVLINK_TYPE_FLOAT, 3, 68, offsetof(mavlink_follow_target_t, rates) }, \
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{ "position_cov", NULL, MAVLINK_TYPE_FLOAT, 3, 80, offsetof(mavlink_follow_target_t, position_cov) }, \
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{ "custom_state", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_follow_target_t, custom_state) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_FOLLOW_TARGET { \
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"FOLLOW_TARGET", \
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11, \
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{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_follow_target_t, timestamp) }, \
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{ "est_capabilities", NULL, MAVLINK_TYPE_UINT8_T, 0, 92, offsetof(mavlink_follow_target_t, est_capabilities) }, \
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{ "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_follow_target_t, lat) }, \
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{ "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 20, offsetof(mavlink_follow_target_t, lon) }, \
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{ "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_follow_target_t, alt) }, \
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{ "vel", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_follow_target_t, vel) }, \
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{ "acc", NULL, MAVLINK_TYPE_FLOAT, 3, 40, offsetof(mavlink_follow_target_t, acc) }, \
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{ "attitude_q", NULL, MAVLINK_TYPE_FLOAT, 4, 52, offsetof(mavlink_follow_target_t, attitude_q) }, \
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{ "rates", NULL, MAVLINK_TYPE_FLOAT, 3, 68, offsetof(mavlink_follow_target_t, rates) }, \
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{ "position_cov", NULL, MAVLINK_TYPE_FLOAT, 3, 80, offsetof(mavlink_follow_target_t, position_cov) }, \
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{ "custom_state", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_follow_target_t, custom_state) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a follow_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 timestamp [ms] Timestamp (time since system boot).
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* @param est_capabilities bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
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* @param lat [degE7] Latitude (WGS84)
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* @param lon [degE7] Longitude (WGS84)
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* @param alt [m] Altitude (MSL)
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* @param vel [m/s] target velocity (0,0,0) for unknown
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* @param acc [m/s/s] linear target acceleration (0,0,0) for unknown
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* @param attitude_q (1 0 0 0 for unknown)
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* @param rates (0 0 0 for unknown)
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* @param position_cov eph epv
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* @param custom_state button states or switches of a tracker device
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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_follow_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state)
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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_FOLLOW_TARGET_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_uint64_t(buf, 8, custom_state);
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_mav_put_int32_t(buf, 16, lat);
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_mav_put_int32_t(buf, 20, lon);
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_mav_put_float(buf, 24, alt);
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_mav_put_uint8_t(buf, 92, est_capabilities);
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_mav_put_float_array(buf, 28, vel, 3);
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_mav_put_float_array(buf, 40, acc, 3);
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_mav_put_float_array(buf, 52, attitude_q, 4);
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_mav_put_float_array(buf, 68, rates, 3);
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_mav_put_float_array(buf, 80, position_cov, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
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#else
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mavlink_follow_target_t packet;
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packet.timestamp = timestamp;
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packet.custom_state = custom_state;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.est_capabilities = est_capabilities;
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mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
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mav_array_memcpy(packet.acc, acc, sizeof(float)*3);
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mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4);
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mav_array_memcpy(packet.rates, rates, sizeof(float)*3);
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mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_FOLLOW_TARGET;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
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}
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/**
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* @brief Pack a follow_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 timestamp [ms] Timestamp (time since system boot).
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* @param est_capabilities bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
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* @param lat [degE7] Latitude (WGS84)
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* @param lon [degE7] Longitude (WGS84)
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* @param alt [m] Altitude (MSL)
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* @param vel [m/s] target velocity (0,0,0) for unknown
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* @param acc [m/s/s] linear target acceleration (0,0,0) for unknown
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* @param attitude_q (1 0 0 0 for unknown)
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* @param rates (0 0 0 for unknown)
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* @param position_cov eph epv
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* @param custom_state button states or switches of a tracker device
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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_follow_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 timestamp,uint8_t est_capabilities,int32_t lat,int32_t lon,float alt,const float *vel,const float *acc,const float *attitude_q,const float *rates,const float *position_cov,uint64_t custom_state)
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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_FOLLOW_TARGET_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_uint64_t(buf, 8, custom_state);
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_mav_put_int32_t(buf, 16, lat);
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_mav_put_int32_t(buf, 20, lon);
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_mav_put_float(buf, 24, alt);
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_mav_put_uint8_t(buf, 92, est_capabilities);
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_mav_put_float_array(buf, 28, vel, 3);
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_mav_put_float_array(buf, 40, acc, 3);
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_mav_put_float_array(buf, 52, attitude_q, 4);
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_mav_put_float_array(buf, 68, rates, 3);
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_mav_put_float_array(buf, 80, position_cov, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
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#else
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mavlink_follow_target_t packet;
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packet.timestamp = timestamp;
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packet.custom_state = custom_state;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.est_capabilities = est_capabilities;
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mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
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mav_array_memcpy(packet.acc, acc, sizeof(float)*3);
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mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4);
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mav_array_memcpy(packet.rates, rates, sizeof(float)*3);
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mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_FOLLOW_TARGET;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
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}
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/**
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* @brief Encode a follow_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 follow_target C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_follow_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_follow_target_t* follow_target)
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{
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return mavlink_msg_follow_target_pack(system_id, component_id, msg, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state);
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}
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/**
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* @brief Encode a follow_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 follow_target C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_follow_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_follow_target_t* follow_target)
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{
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return mavlink_msg_follow_target_pack_chan(system_id, component_id, chan, msg, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state);
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}
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/**
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* @brief Send a follow_target message
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* @param chan MAVLink channel to send the message
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*
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* @param timestamp [ms] Timestamp (time since system boot).
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* @param est_capabilities bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
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* @param lat [degE7] Latitude (WGS84)
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* @param lon [degE7] Longitude (WGS84)
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* @param alt [m] Altitude (MSL)
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* @param vel [m/s] target velocity (0,0,0) for unknown
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* @param acc [m/s/s] linear target acceleration (0,0,0) for unknown
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* @param attitude_q (1 0 0 0 for unknown)
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* @param rates (0 0 0 for unknown)
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* @param position_cov eph epv
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* @param custom_state button states or switches of a tracker device
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_follow_target_send(mavlink_channel_t chan, uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state)
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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_FOLLOW_TARGET_LEN];
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_mav_put_uint64_t(buf, 0, timestamp);
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_mav_put_uint64_t(buf, 8, custom_state);
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_mav_put_int32_t(buf, 16, lat);
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_mav_put_int32_t(buf, 20, lon);
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_mav_put_float(buf, 24, alt);
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_mav_put_uint8_t(buf, 92, est_capabilities);
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_mav_put_float_array(buf, 28, vel, 3);
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_mav_put_float_array(buf, 40, acc, 3);
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_mav_put_float_array(buf, 52, attitude_q, 4);
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_mav_put_float_array(buf, 68, rates, 3);
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_mav_put_float_array(buf, 80, position_cov, 3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, buf, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
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#else
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mavlink_follow_target_t packet;
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packet.timestamp = timestamp;
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packet.custom_state = custom_state;
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packet.lat = lat;
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packet.lon = lon;
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packet.alt = alt;
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packet.est_capabilities = est_capabilities;
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mav_array_memcpy(packet.vel, vel, sizeof(float)*3);
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mav_array_memcpy(packet.acc, acc, sizeof(float)*3);
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mav_array_memcpy(packet.attitude_q, attitude_q, sizeof(float)*4);
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mav_array_memcpy(packet.rates, rates, sizeof(float)*3);
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mav_array_memcpy(packet.position_cov, position_cov, sizeof(float)*3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)&packet, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
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#endif
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}
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/**
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* @brief Send a follow_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_follow_target_send_struct(mavlink_channel_t chan, const mavlink_follow_target_t* follow_target)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_follow_target_send(chan, follow_target->timestamp, follow_target->est_capabilities, follow_target->lat, follow_target->lon, follow_target->alt, follow_target->vel, follow_target->acc, follow_target->attitude_q, follow_target->rates, follow_target->position_cov, follow_target->custom_state);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)follow_target, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_FOLLOW_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_follow_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, uint8_t est_capabilities, int32_t lat, int32_t lon, float alt, const float *vel, const float *acc, const float *attitude_q, const float *rates, const float *position_cov, uint64_t custom_state)
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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, timestamp);
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_mav_put_uint64_t(buf, 8, custom_state);
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_mav_put_int32_t(buf, 16, lat);
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_mav_put_int32_t(buf, 20, lon);
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_mav_put_float(buf, 24, alt);
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_mav_put_uint8_t(buf, 92, est_capabilities);
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_mav_put_float_array(buf, 28, vel, 3);
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_mav_put_float_array(buf, 40, acc, 3);
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_mav_put_float_array(buf, 52, attitude_q, 4);
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_mav_put_float_array(buf, 68, rates, 3);
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_mav_put_float_array(buf, 80, position_cov, 3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, buf, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
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#else
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mavlink_follow_target_t *packet = (mavlink_follow_target_t *)msgbuf;
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packet->timestamp = timestamp;
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packet->custom_state = custom_state;
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packet->lat = lat;
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packet->lon = lon;
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packet->alt = alt;
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packet->est_capabilities = est_capabilities;
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mav_array_memcpy(packet->vel, vel, sizeof(float)*3);
|
|
mav_array_memcpy(packet->acc, acc, sizeof(float)*3);
|
|
mav_array_memcpy(packet->attitude_q, attitude_q, sizeof(float)*4);
|
|
mav_array_memcpy(packet->rates, rates, sizeof(float)*3);
|
|
mav_array_memcpy(packet->position_cov, position_cov, sizeof(float)*3);
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_FOLLOW_TARGET, (const char *)packet, MAVLINK_MSG_ID_FOLLOW_TARGET_MIN_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN, MAVLINK_MSG_ID_FOLLOW_TARGET_CRC);
|
|
#endif
|
|
}
|
|
#endif
|
|
|
|
#endif
|
|
|
|
// MESSAGE FOLLOW_TARGET UNPACKING
|
|
|
|
|
|
/**
|
|
* @brief Get field timestamp from follow_target message
|
|
*
|
|
* @return [ms] Timestamp (time since system boot).
|
|
*/
|
|
static inline uint64_t mavlink_msg_follow_target_get_timestamp(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 0);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field est_capabilities from follow_target message
|
|
*
|
|
* @return bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
|
|
*/
|
|
static inline uint8_t mavlink_msg_follow_target_get_est_capabilities(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint8_t(msg, 92);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lat from follow_target message
|
|
*
|
|
* @return [degE7] Latitude (WGS84)
|
|
*/
|
|
static inline int32_t mavlink_msg_follow_target_get_lat(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 16);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field lon from follow_target message
|
|
*
|
|
* @return [degE7] Longitude (WGS84)
|
|
*/
|
|
static inline int32_t mavlink_msg_follow_target_get_lon(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_int32_t(msg, 20);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field alt from follow_target message
|
|
*
|
|
* @return [m] Altitude (MSL)
|
|
*/
|
|
static inline float mavlink_msg_follow_target_get_alt(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_float(msg, 24);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field vel from follow_target message
|
|
*
|
|
* @return [m/s] target velocity (0,0,0) for unknown
|
|
*/
|
|
static inline uint16_t mavlink_msg_follow_target_get_vel(const mavlink_message_t* msg, float *vel)
|
|
{
|
|
return _MAV_RETURN_float_array(msg, vel, 3, 28);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field acc from follow_target message
|
|
*
|
|
* @return [m/s/s] linear target acceleration (0,0,0) for unknown
|
|
*/
|
|
static inline uint16_t mavlink_msg_follow_target_get_acc(const mavlink_message_t* msg, float *acc)
|
|
{
|
|
return _MAV_RETURN_float_array(msg, acc, 3, 40);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field attitude_q from follow_target message
|
|
*
|
|
* @return (1 0 0 0 for unknown)
|
|
*/
|
|
static inline uint16_t mavlink_msg_follow_target_get_attitude_q(const mavlink_message_t* msg, float *attitude_q)
|
|
{
|
|
return _MAV_RETURN_float_array(msg, attitude_q, 4, 52);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field rates from follow_target message
|
|
*
|
|
* @return (0 0 0 for unknown)
|
|
*/
|
|
static inline uint16_t mavlink_msg_follow_target_get_rates(const mavlink_message_t* msg, float *rates)
|
|
{
|
|
return _MAV_RETURN_float_array(msg, rates, 3, 68);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field position_cov from follow_target message
|
|
*
|
|
* @return eph epv
|
|
*/
|
|
static inline uint16_t mavlink_msg_follow_target_get_position_cov(const mavlink_message_t* msg, float *position_cov)
|
|
{
|
|
return _MAV_RETURN_float_array(msg, position_cov, 3, 80);
|
|
}
|
|
|
|
/**
|
|
* @brief Get field custom_state from follow_target message
|
|
*
|
|
* @return button states or switches of a tracker device
|
|
*/
|
|
static inline uint64_t mavlink_msg_follow_target_get_custom_state(const mavlink_message_t* msg)
|
|
{
|
|
return _MAV_RETURN_uint64_t(msg, 8);
|
|
}
|
|
|
|
/**
|
|
* @brief Decode a follow_target message into a struct
|
|
*
|
|
* @param msg The message to decode
|
|
* @param follow_target C-struct to decode the message contents into
|
|
*/
|
|
static inline void mavlink_msg_follow_target_decode(const mavlink_message_t* msg, mavlink_follow_target_t* follow_target)
|
|
{
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
|
follow_target->timestamp = mavlink_msg_follow_target_get_timestamp(msg);
|
|
follow_target->custom_state = mavlink_msg_follow_target_get_custom_state(msg);
|
|
follow_target->lat = mavlink_msg_follow_target_get_lat(msg);
|
|
follow_target->lon = mavlink_msg_follow_target_get_lon(msg);
|
|
follow_target->alt = mavlink_msg_follow_target_get_alt(msg);
|
|
mavlink_msg_follow_target_get_vel(msg, follow_target->vel);
|
|
mavlink_msg_follow_target_get_acc(msg, follow_target->acc);
|
|
mavlink_msg_follow_target_get_attitude_q(msg, follow_target->attitude_q);
|
|
mavlink_msg_follow_target_get_rates(msg, follow_target->rates);
|
|
mavlink_msg_follow_target_get_position_cov(msg, follow_target->position_cov);
|
|
follow_target->est_capabilities = mavlink_msg_follow_target_get_est_capabilities(msg);
|
|
#else
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_FOLLOW_TARGET_LEN? msg->len : MAVLINK_MSG_ID_FOLLOW_TARGET_LEN;
|
|
memset(follow_target, 0, MAVLINK_MSG_ID_FOLLOW_TARGET_LEN);
|
|
memcpy(follow_target, _MAV_PAYLOAD(msg), len);
|
|
#endif
|
|
}
|