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// MESSAGE BRIEF_FEATURE PACKING
#define MAVLINK_MSG_ID_BRIEF_FEATURE 172
#define MAVLINK_MSG_ID_BRIEF_FEATURE_LEN 53
#define MAVLINK_MSG_172_LEN 53
typedef struct __mavlink_brief_feature_t
{
float x; ///< x position in m
float y; ///< y position in m
float z; ///< z position in m
float response; ///< Harris operator response at this location
uint16_t size; ///< Size in pixels
uint16_t orientation; ///< Orientation
uint8_t orientation_assignment; ///< Orientation assignment 0: false, 1:true
uint8_t descriptor[32]; ///< Descriptor
} mavlink_brief_feature_t;
#define MAVLINK_MSG_BRIEF_FEATURE_FIELD_DESCRIPTOR_LEN 32
/**
* @brief Pack a brief_feature message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param x x position in m
* @param y y position in m
* @param z z position in m
* @param orientation_assignment Orientation assignment 0: false, 1:true
* @param size Size in pixels
* @param orientation Orientation
* @param descriptor Descriptor
* @param response Harris operator response at this location
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_brief_feature_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
{
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
p->x = x; // float:x position in m
p->y = y; // float:y position in m
p->z = z; // float:z position in m
p->orientation_assignment = orientation_assignment; // uint8_t:Orientation assignment 0: false, 1:true
p->size = size; // uint16_t:Size in pixels
p->orientation = orientation; // uint16_t:Orientation
memcpy(p->descriptor, descriptor, sizeof(p->descriptor)); // uint8_t[32]:Descriptor
p->response = response; // float:Harris operator response at this location
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
}
/**
* @brief Pack a brief_feature message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message was sent over
* @param msg The MAVLink message to compress the data into
* @param x x position in m
* @param y y position in m
* @param z z position in m
* @param orientation_assignment Orientation assignment 0: false, 1:true
* @param size Size in pixels
* @param orientation Orientation
* @param descriptor Descriptor
* @param response Harris operator response at this location
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_brief_feature_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
{
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
msg->msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
p->x = x; // float:x position in m
p->y = y; // float:y position in m
p->z = z; // float:z position in m
p->orientation_assignment = orientation_assignment; // uint8_t:Orientation assignment 0: false, 1:true
p->size = size; // uint16_t:Size in pixels
p->orientation = orientation; // uint16_t:Orientation
memcpy(p->descriptor, descriptor, sizeof(p->descriptor)); // uint8_t[32]:Descriptor
p->response = response; // float:Harris operator response at this location
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_BRIEF_FEATURE_LEN);
}
/**
* @brief Encode a brief_feature struct into a message
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param brief_feature C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_brief_feature_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_brief_feature_t* brief_feature)
{
return mavlink_msg_brief_feature_pack(system_id, component_id, msg, brief_feature->x, brief_feature->y, brief_feature->z, brief_feature->orientation_assignment, brief_feature->size, brief_feature->orientation, brief_feature->descriptor, brief_feature->response);
}
/**
* @brief Send a brief_feature message
* @param chan MAVLink channel to send the message
*
* @param x x position in m
* @param y y position in m
* @param z z position in m
* @param orientation_assignment Orientation assignment 0: false, 1:true
* @param size Size in pixels
* @param orientation Orientation
* @param descriptor Descriptor
* @param response Harris operator response at this location
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_brief_feature_send(mavlink_channel_t chan, float x, float y, float z, uint8_t orientation_assignment, uint16_t size, uint16_t orientation, const uint8_t* descriptor, float response)
{
mavlink_header_t hdr;
mavlink_brief_feature_t payload;
uint16_t checksum;
mavlink_brief_feature_t *p = &payload;
p->x = x; // float:x position in m
p->y = y; // float:y position in m
p->z = z; // float:z position in m
p->orientation_assignment = orientation_assignment; // uint8_t:Orientation assignment 0: false, 1:true
p->size = size; // uint16_t:Size in pixels
p->orientation = orientation; // uint16_t:Orientation
memcpy(p->descriptor, descriptor, sizeof(p->descriptor)); // uint8_t[32]:Descriptor
p->response = response; // float:Harris operator response at this location
hdr.STX = MAVLINK_STX;
hdr.len = MAVLINK_MSG_ID_BRIEF_FEATURE_LEN;
hdr.msgid = MAVLINK_MSG_ID_BRIEF_FEATURE;
hdr.sysid = mavlink_system.sysid;
hdr.compid = mavlink_system.compid;
hdr.seq = mavlink_get_channel_status(chan)->current_tx_seq;
mavlink_get_channel_status(chan)->current_tx_seq = hdr.seq + 1;
mavlink_send_mem(chan, (uint8_t *)&hdr.STX, MAVLINK_NUM_HEADER_BYTES );
crc_init(&checksum);
checksum = crc_calculate_mem((uint8_t *)&hdr.len, &checksum, MAVLINK_CORE_HEADER_LEN);
checksum = crc_calculate_mem((uint8_t *)&payload, &checksum, hdr.len );
hdr.ck_a = (uint8_t)(checksum & 0xFF); ///< Low byte
hdr.ck_b = (uint8_t)(checksum >> 8); ///< High byte
mavlink_send_mem(chan, (uint8_t *)&payload, hdr.len);
mavlink_send_mem(chan, (uint8_t *)&hdr.ck_a, MAVLINK_NUM_CHECKSUM_BYTES);
}
#endif
// MESSAGE BRIEF_FEATURE UNPACKING
/**
* @brief Get field x from brief_feature message
*
* @return x position in m
*/
static inline float mavlink_msg_brief_feature_get_x(const mavlink_message_t* msg)
{
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
return (float)(p->x);
}
/**
* @brief Get field y from brief_feature message
*
* @return y position in m
*/
static inline float mavlink_msg_brief_feature_get_y(const mavlink_message_t* msg)
{
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
return (float)(p->y);
}
/**
* @brief Get field z from brief_feature message
*
* @return z position in m
*/
static inline float mavlink_msg_brief_feature_get_z(const mavlink_message_t* msg)
{
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
return (float)(p->z);
}
/**
* @brief Get field orientation_assignment from brief_feature message
*
* @return Orientation assignment 0: false, 1:true
*/
static inline uint8_t mavlink_msg_brief_feature_get_orientation_assignment(const mavlink_message_t* msg)
{
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
return (uint8_t)(p->orientation_assignment);
}
/**
* @brief Get field size from brief_feature message
*
* @return Size in pixels
*/
static inline uint16_t mavlink_msg_brief_feature_get_size(const mavlink_message_t* msg)
{
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
return (uint16_t)(p->size);
}
/**
* @brief Get field orientation from brief_feature message
*
* @return Orientation
*/
static inline uint16_t mavlink_msg_brief_feature_get_orientation(const mavlink_message_t* msg)
{
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
return (uint16_t)(p->orientation);
}
/**
* @brief Get field descriptor from brief_feature message
*
* @return Descriptor
*/
static inline uint16_t mavlink_msg_brief_feature_get_descriptor(const mavlink_message_t* msg, uint8_t* descriptor)
{
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
memcpy(descriptor, p->descriptor, sizeof(p->descriptor));
return sizeof(p->descriptor);
}
/**
* @brief Get field response from brief_feature message
*
* @return Harris operator response at this location
*/
static inline float mavlink_msg_brief_feature_get_response(const mavlink_message_t* msg)
{
mavlink_brief_feature_t *p = (mavlink_brief_feature_t *)&msg->payload[0];
return (float)(p->response);
}
/**
* @brief Decode a brief_feature message into a struct
*
* @param msg The message to decode
* @param brief_feature C-struct to decode the message contents into
*/
static inline void mavlink_msg_brief_feature_decode(const mavlink_message_t* msg, mavlink_brief_feature_t* brief_feature)
{
memcpy( brief_feature, msg->payload, sizeof(mavlink_brief_feature_t));
}