// MESSAGE IMAGE_AVAILABLE PACKING #define MAVLINK_MSG_ID_IMAGE_AVAILABLE 154 typedef struct __mavlink_image_available_t { uint64_t cam_id; ///< Camera id uint8_t cam_no; ///< Camera # (starts with 0) uint64_t timestamp; ///< Timestamp uint64_t valid_until; ///< Until which timestamp this buffer will stay valid uint32_t img_seq; ///< The image sequence number uint32_t img_buf_index; ///< Position of the image in the buffer, starts with 0 uint16_t width; ///< Image width uint16_t height; ///< Image height uint16_t depth; ///< Image depth uint8_t channels; ///< Image channels uint32_t key; ///< Shared memory area key uint32_t exposure; ///< Exposure time, in microseconds float gain; ///< Camera gain float roll; ///< Roll angle in rad float pitch; ///< Pitch angle in rad float yaw; ///< Yaw angle in rad float local_z; ///< Local frame Z coordinate (height over ground) float lat; ///< GPS X coordinate float lon; ///< GPS Y coordinate float alt; ///< Global frame altitude float ground_x; ///< Ground truth X float ground_y; ///< Ground truth Y float ground_z; ///< Ground truth Z } mavlink_image_available_t; #define MAVLINK_MSG_ID_IMAGE_AVAILABLE_LEN 92 #define MAVLINK_MSG_ID_154_LEN 92 #define MAVLINK_MESSAGE_INFO_IMAGE_AVAILABLE { \ "IMAGE_AVAILABLE", \ 23, \ { { "cam_id", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_image_available_t, cam_id) }, \ { "cam_no", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_image_available_t, cam_no) }, \ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 9, offsetof(mavlink_image_available_t, timestamp) }, \ { "valid_until", NULL, MAVLINK_TYPE_UINT64_T, 0, 17, offsetof(mavlink_image_available_t, valid_until) }, \ { "img_seq", NULL, MAVLINK_TYPE_UINT32_T, 0, 25, offsetof(mavlink_image_available_t, img_seq) }, \ { "img_buf_index", NULL, MAVLINK_TYPE_UINT32_T, 0, 29, offsetof(mavlink_image_available_t, img_buf_index) }, \ { "width", NULL, MAVLINK_TYPE_UINT16_T, 0, 33, offsetof(mavlink_image_available_t, width) }, \ { "height", NULL, MAVLINK_TYPE_UINT16_T, 0, 35, offsetof(mavlink_image_available_t, height) }, \ { "depth", NULL, MAVLINK_TYPE_UINT16_T, 0, 37, offsetof(mavlink_image_available_t, depth) }, \ { "channels", NULL, MAVLINK_TYPE_UINT8_T, 0, 39, offsetof(mavlink_image_available_t, channels) }, \ { "key", NULL, MAVLINK_TYPE_UINT32_T, 0, 40, offsetof(mavlink_image_available_t, key) }, \ { "exposure", NULL, MAVLINK_TYPE_UINT32_T, 0, 44, offsetof(mavlink_image_available_t, exposure) }, \ { "gain", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_image_available_t, gain) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_image_available_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_image_available_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 60, offsetof(mavlink_image_available_t, yaw) }, \ { "local_z", NULL, MAVLINK_TYPE_FLOAT, 0, 64, offsetof(mavlink_image_available_t, local_z) }, \ { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 68, offsetof(mavlink_image_available_t, lat) }, \ { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 72, offsetof(mavlink_image_available_t, lon) }, \ { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 76, offsetof(mavlink_image_available_t, alt) }, \ { "ground_x", NULL, MAVLINK_TYPE_FLOAT, 0, 80, offsetof(mavlink_image_available_t, ground_x) }, \ { "ground_y", NULL, MAVLINK_TYPE_FLOAT, 0, 84, offsetof(mavlink_image_available_t, ground_y) }, \ { "ground_z", NULL, MAVLINK_TYPE_FLOAT, 0, 88, offsetof(mavlink_image_available_t, ground_z) }, \ } \ } /** * @brief Pack a image_available 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 cam_id Camera id * @param cam_no Camera # (starts with 0) * @param timestamp Timestamp * @param valid_until Until which timestamp this buffer will stay valid * @param img_seq The image sequence number * @param img_buf_index Position of the image in the buffer, starts with 0 * @param width Image width * @param height Image height * @param depth Image depth * @param channels Image channels * @param key Shared memory area key * @param exposure Exposure time, in microseconds * @param gain Camera gain * @param roll Roll angle in rad * @param pitch Pitch angle in rad * @param yaw Yaw angle in rad * @param local_z Local frame Z coordinate (height over ground) * @param lat GPS X coordinate * @param lon GPS Y coordinate * @param alt Global frame altitude * @param ground_x Ground truth X * @param ground_y Ground truth Y * @param ground_z Ground truth Z * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[92]; _mav_put_uint64_t(buf, 0, cam_id); _mav_put_uint8_t(buf, 8, cam_no); _mav_put_uint64_t(buf, 9, timestamp); _mav_put_uint64_t(buf, 17, valid_until); _mav_put_uint32_t(buf, 25, img_seq); _mav_put_uint32_t(buf, 29, img_buf_index); _mav_put_uint16_t(buf, 33, width); _mav_put_uint16_t(buf, 35, height); _mav_put_uint16_t(buf, 37, depth); _mav_put_uint8_t(buf, 39, channels); _mav_put_uint32_t(buf, 40, key); _mav_put_uint32_t(buf, 44, exposure); _mav_put_float(buf, 48, gain); _mav_put_float(buf, 52, roll); _mav_put_float(buf, 56, pitch); _mav_put_float(buf, 60, yaw); _mav_put_float(buf, 64, local_z); _mav_put_float(buf, 68, lat); _mav_put_float(buf, 72, lon); _mav_put_float(buf, 76, alt); _mav_put_float(buf, 80, ground_x); _mav_put_float(buf, 84, ground_y); _mav_put_float(buf, 88, ground_z); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 92); #else mavlink_image_available_t packet; packet.cam_id = cam_id; packet.cam_no = cam_no; packet.timestamp = timestamp; packet.valid_until = valid_until; packet.img_seq = img_seq; packet.img_buf_index = img_buf_index; packet.width = width; packet.height = height; packet.depth = depth; packet.channels = channels; packet.key = key; packet.exposure = exposure; packet.gain = gain; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.local_z = local_z; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.ground_x = ground_x; packet.ground_y = ground_y; packet.ground_z = ground_z; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 92); #endif msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; return mavlink_finalize_message(msg, system_id, component_id, 92); } /** * @brief Pack a image_available message on a channel * @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 cam_id Camera id * @param cam_no Camera # (starts with 0) * @param timestamp Timestamp * @param valid_until Until which timestamp this buffer will stay valid * @param img_seq The image sequence number * @param img_buf_index Position of the image in the buffer, starts with 0 * @param width Image width * @param height Image height * @param depth Image depth * @param channels Image channels * @param key Shared memory area key * @param exposure Exposure time, in microseconds * @param gain Camera gain * @param roll Roll angle in rad * @param pitch Pitch angle in rad * @param yaw Yaw angle in rad * @param local_z Local frame Z coordinate (height over ground) * @param lat GPS X coordinate * @param lon GPS Y coordinate * @param alt Global frame altitude * @param ground_x Ground truth X * @param ground_y Ground truth Y * @param ground_z Ground truth Z * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t cam_id,uint8_t cam_no,uint64_t timestamp,uint64_t valid_until,uint32_t img_seq,uint32_t img_buf_index,uint16_t width,uint16_t height,uint16_t depth,uint8_t channels,uint32_t key,uint32_t exposure,float gain,float roll,float pitch,float yaw,float local_z,float lat,float lon,float alt,float ground_x,float ground_y,float ground_z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[92]; _mav_put_uint64_t(buf, 0, cam_id); _mav_put_uint8_t(buf, 8, cam_no); _mav_put_uint64_t(buf, 9, timestamp); _mav_put_uint64_t(buf, 17, valid_until); _mav_put_uint32_t(buf, 25, img_seq); _mav_put_uint32_t(buf, 29, img_buf_index); _mav_put_uint16_t(buf, 33, width); _mav_put_uint16_t(buf, 35, height); _mav_put_uint16_t(buf, 37, depth); _mav_put_uint8_t(buf, 39, channels); _mav_put_uint32_t(buf, 40, key); _mav_put_uint32_t(buf, 44, exposure); _mav_put_float(buf, 48, gain); _mav_put_float(buf, 52, roll); _mav_put_float(buf, 56, pitch); _mav_put_float(buf, 60, yaw); _mav_put_float(buf, 64, local_z); _mav_put_float(buf, 68, lat); _mav_put_float(buf, 72, lon); _mav_put_float(buf, 76, alt); _mav_put_float(buf, 80, ground_x); _mav_put_float(buf, 84, ground_y); _mav_put_float(buf, 88, ground_z); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 92); #else mavlink_image_available_t packet; packet.cam_id = cam_id; packet.cam_no = cam_no; packet.timestamp = timestamp; packet.valid_until = valid_until; packet.img_seq = img_seq; packet.img_buf_index = img_buf_index; packet.width = width; packet.height = height; packet.depth = depth; packet.channels = channels; packet.key = key; packet.exposure = exposure; packet.gain = gain; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.local_z = local_z; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.ground_x = ground_x; packet.ground_y = ground_y; packet.ground_z = ground_z; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 92); #endif msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 92); } /** * @brief Encode a image_available 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 image_available C-struct to read the message contents from */ static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_available_t* image_available) { return mavlink_msg_image_available_pack(system_id, component_id, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch, image_available->yaw, image_available->local_z, image_available->lat, image_available->lon, image_available->alt, image_available->ground_x, image_available->ground_y, image_available->ground_z); } /** * @brief Send a image_available message * @param chan MAVLink channel to send the message * * @param cam_id Camera id * @param cam_no Camera # (starts with 0) * @param timestamp Timestamp * @param valid_until Until which timestamp this buffer will stay valid * @param img_seq The image sequence number * @param img_buf_index Position of the image in the buffer, starts with 0 * @param width Image width * @param height Image height * @param depth Image depth * @param channels Image channels * @param key Shared memory area key * @param exposure Exposure time, in microseconds * @param gain Camera gain * @param roll Roll angle in rad * @param pitch Pitch angle in rad * @param yaw Yaw angle in rad * @param local_z Local frame Z coordinate (height over ground) * @param lat GPS X coordinate * @param lon GPS Y coordinate * @param alt Global frame altitude * @param ground_x Ground truth X * @param ground_y Ground truth Y * @param ground_z Ground truth Z */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[92]; _mav_put_uint64_t(buf, 0, cam_id); _mav_put_uint8_t(buf, 8, cam_no); _mav_put_uint64_t(buf, 9, timestamp); _mav_put_uint64_t(buf, 17, valid_until); _mav_put_uint32_t(buf, 25, img_seq); _mav_put_uint32_t(buf, 29, img_buf_index); _mav_put_uint16_t(buf, 33, width); _mav_put_uint16_t(buf, 35, height); _mav_put_uint16_t(buf, 37, depth); _mav_put_uint8_t(buf, 39, channels); _mav_put_uint32_t(buf, 40, key); _mav_put_uint32_t(buf, 44, exposure); _mav_put_float(buf, 48, gain); _mav_put_float(buf, 52, roll); _mav_put_float(buf, 56, pitch); _mav_put_float(buf, 60, yaw); _mav_put_float(buf, 64, local_z); _mav_put_float(buf, 68, lat); _mav_put_float(buf, 72, lon); _mav_put_float(buf, 76, alt); _mav_put_float(buf, 80, ground_x); _mav_put_float(buf, 84, ground_y); _mav_put_float(buf, 88, ground_z); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, buf, 92); #else mavlink_image_available_t packet; packet.cam_id = cam_id; packet.cam_no = cam_no; packet.timestamp = timestamp; packet.valid_until = valid_until; packet.img_seq = img_seq; packet.img_buf_index = img_buf_index; packet.width = width; packet.height = height; packet.depth = depth; packet.channels = channels; packet.key = key; packet.exposure = exposure; packet.gain = gain; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.local_z = local_z; packet.lat = lat; packet.lon = lon; packet.alt = alt; packet.ground_x = ground_x; packet.ground_y = ground_y; packet.ground_z = ground_z; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_IMAGE_AVAILABLE, (const char *)&packet, 92); #endif } #endif // MESSAGE IMAGE_AVAILABLE UNPACKING /** * @brief Get field cam_id from image_available message * * @return Camera id */ static inline uint64_t mavlink_msg_image_available_get_cam_id(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field cam_no from image_available message * * @return Camera # (starts with 0) */ static inline uint8_t mavlink_msg_image_available_get_cam_no(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 8); } /** * @brief Get field timestamp from image_available message * * @return Timestamp */ static inline uint64_t mavlink_msg_image_available_get_timestamp(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 9); } /** * @brief Get field valid_until from image_available message * * @return Until which timestamp this buffer will stay valid */ static inline uint64_t mavlink_msg_image_available_get_valid_until(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 17); } /** * @brief Get field img_seq from image_available message * * @return The image sequence number */ static inline uint32_t mavlink_msg_image_available_get_img_seq(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 25); } /** * @brief Get field img_buf_index from image_available message * * @return Position of the image in the buffer, starts with 0 */ static inline uint32_t mavlink_msg_image_available_get_img_buf_index(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 29); } /** * @brief Get field width from image_available message * * @return Image width */ static inline uint16_t mavlink_msg_image_available_get_width(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 33); } /** * @brief Get field height from image_available message * * @return Image height */ static inline uint16_t mavlink_msg_image_available_get_height(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 35); } /** * @brief Get field depth from image_available message * * @return Image depth */ static inline uint16_t mavlink_msg_image_available_get_depth(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 37); } /** * @brief Get field channels from image_available message * * @return Image channels */ static inline uint8_t mavlink_msg_image_available_get_channels(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 39); } /** * @brief Get field key from image_available message * * @return Shared memory area key */ static inline uint32_t mavlink_msg_image_available_get_key(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 40); } /** * @brief Get field exposure from image_available message * * @return Exposure time, in microseconds */ static inline uint32_t mavlink_msg_image_available_get_exposure(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 44); } /** * @brief Get field gain from image_available message * * @return Camera gain */ static inline float mavlink_msg_image_available_get_gain(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 48); } /** * @brief Get field roll from image_available message * * @return Roll angle in rad */ static inline float mavlink_msg_image_available_get_roll(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 52); } /** * @brief Get field pitch from image_available message * * @return Pitch angle in rad */ static inline float mavlink_msg_image_available_get_pitch(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 56); } /** * @brief Get field yaw from image_available message * * @return Yaw angle in rad */ static inline float mavlink_msg_image_available_get_yaw(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 60); } /** * @brief Get field local_z from image_available message * * @return Local frame Z coordinate (height over ground) */ static inline float mavlink_msg_image_available_get_local_z(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 64); } /** * @brief Get field lat from image_available message * * @return GPS X coordinate */ static inline float mavlink_msg_image_available_get_lat(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 68); } /** * @brief Get field lon from image_available message * * @return GPS Y coordinate */ static inline float mavlink_msg_image_available_get_lon(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 72); } /** * @brief Get field alt from image_available message * * @return Global frame altitude */ static inline float mavlink_msg_image_available_get_alt(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 76); } /** * @brief Get field ground_x from image_available message * * @return Ground truth X */ static inline float mavlink_msg_image_available_get_ground_x(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 80); } /** * @brief Get field ground_y from image_available message * * @return Ground truth Y */ static inline float mavlink_msg_image_available_get_ground_y(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 84); } /** * @brief Get field ground_z from image_available message * * @return Ground truth Z */ static inline float mavlink_msg_image_available_get_ground_z(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 88); } /** * @brief Decode a image_available message into a struct * * @param msg The message to decode * @param image_available C-struct to decode the message contents into */ static inline void mavlink_msg_image_available_decode(const mavlink_message_t* msg, mavlink_image_available_t* image_available) { #if MAVLINK_NEED_BYTE_SWAP image_available->cam_id = mavlink_msg_image_available_get_cam_id(msg); image_available->cam_no = mavlink_msg_image_available_get_cam_no(msg); image_available->timestamp = mavlink_msg_image_available_get_timestamp(msg); image_available->valid_until = mavlink_msg_image_available_get_valid_until(msg); image_available->img_seq = mavlink_msg_image_available_get_img_seq(msg); image_available->img_buf_index = mavlink_msg_image_available_get_img_buf_index(msg); image_available->width = mavlink_msg_image_available_get_width(msg); image_available->height = mavlink_msg_image_available_get_height(msg); image_available->depth = mavlink_msg_image_available_get_depth(msg); image_available->channels = mavlink_msg_image_available_get_channels(msg); image_available->key = mavlink_msg_image_available_get_key(msg); image_available->exposure = mavlink_msg_image_available_get_exposure(msg); image_available->gain = mavlink_msg_image_available_get_gain(msg); image_available->roll = mavlink_msg_image_available_get_roll(msg); image_available->pitch = mavlink_msg_image_available_get_pitch(msg); image_available->yaw = mavlink_msg_image_available_get_yaw(msg); image_available->local_z = mavlink_msg_image_available_get_local_z(msg); image_available->lat = mavlink_msg_image_available_get_lat(msg); image_available->lon = mavlink_msg_image_available_get_lon(msg); image_available->alt = mavlink_msg_image_available_get_alt(msg); image_available->ground_x = mavlink_msg_image_available_get_ground_x(msg); image_available->ground_y = mavlink_msg_image_available_get_ground_y(msg); image_available->ground_z = mavlink_msg_image_available_get_ground_z(msg); #else memcpy(image_available, _MAV_PAYLOAD(msg), 92); #endif }