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
364 lines
14 KiB
C
364 lines
14 KiB
C
#pragma once
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// MESSAGE LOCAL_POSITION_NED PACKING
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#define MAVLINK_MSG_ID_LOCAL_POSITION_NED 32
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MAVPACKED(
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typedef struct __mavlink_local_position_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*/
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float y; /*< [m] Y Position*/
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float z; /*< [m] Z Position*/
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float vx; /*< [m/s] X Speed*/
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float vy; /*< [m/s] Y Speed*/
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float vz; /*< [m/s] Z Speed*/
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}) mavlink_local_position_ned_t;
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#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN 28
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#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN 28
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#define MAVLINK_MSG_ID_32_LEN 28
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#define MAVLINK_MSG_ID_32_MIN_LEN 28
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#define MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC 185
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#define MAVLINK_MSG_ID_32_CRC 185
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \
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32, \
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"LOCAL_POSITION_NED", \
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7, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \
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"LOCAL_POSITION_NED", \
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7, \
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{ { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a local_position_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 x [m] X Position
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* @param y [m] Y Position
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* @param z [m] Z Position
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* @param vx [m/s] X Speed
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* @param vy [m/s] Y Speed
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* @param vz [m/s] Z Speed
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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_local_position_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
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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_LOCAL_POSITION_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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
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#else
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mavlink_local_position_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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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}
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/**
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* @brief Pack a local_position_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 x [m] X Position
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* @param y [m] Y Position
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* @param z [m] Z Position
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* @param vx [m/s] X Speed
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* @param vy [m/s] Y Speed
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* @param vz [m/s] Z Speed
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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_local_position_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,float x,float y,float z,float vx,float vy,float vz)
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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_LOCAL_POSITION_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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
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#else
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mavlink_local_position_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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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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}
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/**
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* @brief Encode a local_position_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 local_position_ned C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_local_position_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
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{
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return mavlink_msg_local_position_ned_pack(system_id, component_id, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
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}
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/**
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* @brief Encode a local_position_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 local_position_ned C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_local_position_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
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{
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return mavlink_msg_local_position_ned_pack_chan(system_id, component_id, chan, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
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}
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/**
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* @brief Send a local_position_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 x [m] X Position
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* @param y [m] Y Position
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* @param z [m] Z Position
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* @param vx [m/s] X Speed
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* @param vy [m/s] Y Speed
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* @param vz [m/s] Z Speed
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_local_position_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
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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_LOCAL_POSITION_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_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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#else
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mavlink_local_position_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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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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#endif
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}
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/**
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* @brief Send a local_position_ned 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_local_position_ned_send_struct(mavlink_channel_t chan, const mavlink_local_position_ned_t* local_position_ned)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_local_position_ned_send(chan, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)local_position_ned, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_LOCAL_POSITION_NED_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_local_position_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
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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_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_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
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#else
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mavlink_local_position_ned_t *packet = (mavlink_local_position_ned_t *)msgbuf;
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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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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_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 LOCAL_POSITION_NED UNPACKING
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/**
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* @brief Get field time_boot_ms from local_position_ned message
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*
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* @return [ms] Timestamp (time since system boot).
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*/
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static inline uint32_t mavlink_msg_local_position_ned_get_time_boot_ms(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint32_t(msg, 0);
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}
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/**
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* @brief Get field x from local_position_ned message
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*
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* @return [m] X Position
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*/
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static inline float mavlink_msg_local_position_ned_get_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 4);
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}
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/**
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* @brief Get field y from local_position_ned message
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*
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* @return [m] Y Position
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*/
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static inline float mavlink_msg_local_position_ned_get_y(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 z from local_position_ned message
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*
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* @return [m] Z Position
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*/
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static inline float mavlink_msg_local_position_ned_get_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 12);
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}
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/**
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* @brief Get field vx from local_position_ned message
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*
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* @return [m/s] X Speed
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*/
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static inline float mavlink_msg_local_position_ned_get_vx(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 16);
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}
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/**
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* @brief Get field vy from local_position_ned message
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*
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* @return [m/s] Y Speed
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*/
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static inline float mavlink_msg_local_position_ned_get_vy(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 20);
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}
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/**
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* @brief Get field vz from local_position_ned message
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*
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* @return [m/s] Z Speed
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*/
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static inline float mavlink_msg_local_position_ned_get_vz(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Decode a local_position_ned message into a struct
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*
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* @param msg The message to decode
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* @param local_position_ned C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_local_position_ned_decode(const mavlink_message_t* msg, mavlink_local_position_ned_t* local_position_ned)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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local_position_ned->time_boot_ms = mavlink_msg_local_position_ned_get_time_boot_ms(msg);
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local_position_ned->x = mavlink_msg_local_position_ned_get_x(msg);
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local_position_ned->y = mavlink_msg_local_position_ned_get_y(msg);
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local_position_ned->z = mavlink_msg_local_position_ned_get_z(msg);
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local_position_ned->vx = mavlink_msg_local_position_ned_get_vx(msg);
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local_position_ned->vy = mavlink_msg_local_position_ned_get_vy(msg);
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local_position_ned->vz = mavlink_msg_local_position_ned_get_vz(msg);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN? msg->len : MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN;
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memset(local_position_ned, 0, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
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memcpy(local_position_ned, _MAV_PAYLOAD(msg), len);
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#endif
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}
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