// MESSAGE LOCAL_POSITION PACKING #define MAVLINK_MSG_ID_LOCAL_POSITION 31 typedef struct __mavlink_local_position_t { uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) float x; ///< X Position float y; ///< Y Position float z; ///< Z Position float vx; ///< X Speed float vy; ///< Y Speed float vz; ///< Z Speed } mavlink_local_position_t; /** * @brief Pack a local_position 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param x X Position * @param y Y Position * @param z Z Position * @param vx X Speed * @param vy Y Speed * @param vz Z Speed * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_local_position_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float vx, float vy, float vz) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION; i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) i += put_float_by_index(x, i, msg->payload); // X Position i += put_float_by_index(y, i, msg->payload); // Y Position i += put_float_by_index(z, i, msg->payload); // Z Position i += put_float_by_index(vx, i, msg->payload); // X Speed i += put_float_by_index(vy, i, msg->payload); // Y Speed i += put_float_by_index(vz, i, msg->payload); // Z Speed return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a local_position 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 usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param x X Position * @param y Y Position * @param z Z Position * @param vx X Speed * @param vy Y Speed * @param vz Z Speed * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_local_position_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float vx, float vy, float vz) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION; i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (microseconds since UNIX epoch or microseconds since system boot) i += put_float_by_index(x, i, msg->payload); // X Position i += put_float_by_index(y, i, msg->payload); // Y Position i += put_float_by_index(z, i, msg->payload); // Z Position i += put_float_by_index(vx, i, msg->payload); // X Speed i += put_float_by_index(vy, i, msg->payload); // Y Speed i += put_float_by_index(vz, i, msg->payload); // Z Speed return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a local_position 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 local_position C-struct to read the message contents from */ static inline uint16_t mavlink_msg_local_position_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_t* local_position) { return mavlink_msg_local_position_pack(system_id, component_id, msg, local_position->usec, local_position->x, local_position->y, local_position->z, local_position->vx, local_position->vy, local_position->vz); } /** * @brief Send a local_position message * @param chan MAVLink channel to send the message * * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) * @param x X Position * @param y Y Position * @param z Z Position * @param vx X Speed * @param vy Y Speed * @param vz Z Speed */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_local_position_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float vx, float vy, float vz) { mavlink_message_t msg; mavlink_msg_local_position_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, vx, vy, vz); mavlink_send_uart(chan, &msg); } #endif // MESSAGE LOCAL_POSITION UNPACKING /** * @brief Get field usec from local_position message * * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) */ static inline uint64_t mavlink_msg_local_position_get_usec(const mavlink_message_t* msg) { generic_64bit r; r.b[7] = (msg->payload)[0]; r.b[6] = (msg->payload)[1]; r.b[5] = (msg->payload)[2]; r.b[4] = (msg->payload)[3]; r.b[3] = (msg->payload)[4]; r.b[2] = (msg->payload)[5]; r.b[1] = (msg->payload)[6]; r.b[0] = (msg->payload)[7]; return (uint64_t)r.ll; } /** * @brief Get field x from local_position message * * @return X Position */ static inline float mavlink_msg_local_position_get_x(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t))[0]; r.b[2] = (msg->payload+sizeof(uint64_t))[1]; r.b[1] = (msg->payload+sizeof(uint64_t))[2]; r.b[0] = (msg->payload+sizeof(uint64_t))[3]; return (float)r.f; } /** * @brief Get field y from local_position message * * @return Y Position */ static inline float mavlink_msg_local_position_get_y(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field z from local_position message * * @return Z Position */ static inline float mavlink_msg_local_position_get_z(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field vx from local_position message * * @return X Speed */ static inline float mavlink_msg_local_position_get_vx(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field vy from local_position message * * @return Y Speed */ static inline float mavlink_msg_local_position_get_vy(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Get field vz from local_position message * * @return Z Speed */ static inline float mavlink_msg_local_position_get_vz(const mavlink_message_t* msg) { generic_32bit r; r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; return (float)r.f; } /** * @brief Decode a local_position message into a struct * * @param msg The message to decode * @param local_position C-struct to decode the message contents into */ static inline void mavlink_msg_local_position_decode(const mavlink_message_t* msg, mavlink_local_position_t* local_position) { local_position->usec = mavlink_msg_local_position_get_usec(msg); local_position->x = mavlink_msg_local_position_get_x(msg); local_position->y = mavlink_msg_local_position_get_y(msg); local_position->z = mavlink_msg_local_position_get_z(msg); local_position->vx = mavlink_msg_local_position_get_vx(msg); local_position->vy = mavlink_msg_local_position_get_vy(msg); local_position->vz = mavlink_msg_local_position_get_vz(msg); }