277 lines
7.4 KiB
C
277 lines
7.4 KiB
C
// MESSAGE MARKER PACKING
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#define MAVLINK_MSG_ID_MARKER 171
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typedef struct __mavlink_marker_t
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{
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float x; ///< x position
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float y; ///< y position
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float z; ///< z position
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float roll; ///< roll orientation
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float pitch; ///< pitch orientation
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float yaw; ///< yaw orientation
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uint16_t id; ///< ID
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} mavlink_marker_t;
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#define MAVLINK_MSG_ID_MARKER_LEN 26
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#define MAVLINK_MSG_ID_171_LEN 26
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#define MAVLINK_MESSAGE_INFO_MARKER { \
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"MARKER", \
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7, \
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{ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_marker_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_marker_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_marker_t, z) }, \
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{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_marker_t, roll) }, \
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{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_marker_t, pitch) }, \
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{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_marker_t, yaw) }, \
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{ "id", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_marker_t, id) }, \
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} \
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}
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/**
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* @brief Pack a marker 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 id ID
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* @param x x position
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* @param y y position
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* @param z z position
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* @param roll roll orientation
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* @param pitch pitch orientation
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* @param yaw yaw orientation
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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_marker_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[26];
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_mav_put_float(buf, 0, x);
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_mav_put_float(buf, 4, y);
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_mav_put_float(buf, 8, z);
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_mav_put_float(buf, 12, roll);
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_mav_put_float(buf, 16, pitch);
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_mav_put_float(buf, 20, yaw);
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_mav_put_uint16_t(buf, 24, id);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
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#else
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mavlink_marker_t packet;
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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.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.id = id;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MARKER;
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return mavlink_finalize_message(msg, system_id, component_id, 26, 249);
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}
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/**
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* @brief Pack a marker 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 was sent over
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* @param msg The MAVLink message to compress the data into
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* @param id ID
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* @param x x position
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* @param y y position
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* @param z z position
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* @param roll roll orientation
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* @param pitch pitch orientation
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* @param yaw yaw orientation
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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_marker_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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uint16_t id,float x,float y,float z,float roll,float pitch,float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[26];
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_mav_put_float(buf, 0, x);
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_mav_put_float(buf, 4, y);
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_mav_put_float(buf, 8, z);
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_mav_put_float(buf, 12, roll);
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_mav_put_float(buf, 16, pitch);
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_mav_put_float(buf, 20, yaw);
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_mav_put_uint16_t(buf, 24, id);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 26);
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#else
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mavlink_marker_t packet;
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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.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.id = id;
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 26);
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#endif
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msg->msgid = MAVLINK_MSG_ID_MARKER;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 26, 249);
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}
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/**
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* @brief Encode a marker struct into a message
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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 marker C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_marker_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_marker_t* marker)
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{
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return mavlink_msg_marker_pack(system_id, component_id, msg, marker->id, marker->x, marker->y, marker->z, marker->roll, marker->pitch, marker->yaw);
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}
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/**
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* @brief Send a marker message
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* @param chan MAVLink channel to send the message
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*
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* @param id ID
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* @param x x position
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* @param y y position
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* @param z z position
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* @param roll roll orientation
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* @param pitch pitch orientation
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* @param yaw yaw orientation
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_marker_send(mavlink_channel_t chan, uint16_t id, float x, float y, float z, float roll, float pitch, float yaw)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[26];
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_mav_put_float(buf, 0, x);
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_mav_put_float(buf, 4, y);
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_mav_put_float(buf, 8, z);
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_mav_put_float(buf, 12, roll);
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_mav_put_float(buf, 16, pitch);
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_mav_put_float(buf, 20, yaw);
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_mav_put_uint16_t(buf, 24, id);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, buf, 26, 249);
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#else
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mavlink_marker_t packet;
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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.roll = roll;
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packet.pitch = pitch;
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packet.yaw = yaw;
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packet.id = id;
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_MARKER, (const char *)&packet, 26, 249);
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#endif
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}
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#endif
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// MESSAGE MARKER UNPACKING
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/**
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* @brief Get field id from marker message
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*
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* @return ID
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*/
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static inline uint16_t mavlink_msg_marker_get_id(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint16_t(msg, 24);
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}
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/**
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* @brief Get field x from marker message
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*
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* @return x position
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*/
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static inline float mavlink_msg_marker_get_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 0);
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}
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/**
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* @brief Get field y from marker message
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*
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* @return y position
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*/
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static inline float mavlink_msg_marker_get_y(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 z from marker message
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*
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* @return z position
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*/
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static inline float mavlink_msg_marker_get_z(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 roll from marker message
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*
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* @return roll orientation
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*/
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static inline float mavlink_msg_marker_get_roll(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 pitch from marker message
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*
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* @return pitch orientation
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*/
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static inline float mavlink_msg_marker_get_pitch(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 yaw from marker message
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*
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* @return yaw orientation
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*/
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static inline float mavlink_msg_marker_get_yaw(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 Decode a marker message into a struct
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*
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* @param msg The message to decode
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* @param marker C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_marker_decode(const mavlink_message_t* msg, mavlink_marker_t* marker)
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{
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#if MAVLINK_NEED_BYTE_SWAP
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marker->x = mavlink_msg_marker_get_x(msg);
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marker->y = mavlink_msg_marker_get_y(msg);
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marker->z = mavlink_msg_marker_get_z(msg);
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marker->roll = mavlink_msg_marker_get_roll(msg);
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marker->pitch = mavlink_msg_marker_get_pitch(msg);
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marker->yaw = mavlink_msg_marker_get_yaw(msg);
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marker->id = mavlink_msg_marker_get_id(msg);
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#else
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memcpy(marker, _MAV_PAYLOAD(msg), 26);
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#endif
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}
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