// MESSAGE VISION_POSITION_ESTIMATE PACKING #define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE 111 typedef struct __mavlink_vision_position_estimate_t { uint64_t usec; ///< Timestamp (milliseconds) float x; ///< Global X position float y; ///< Global Y position float z; ///< Global Z position float roll; ///< Roll angle in rad float pitch; ///< Pitch angle in rad float yaw; ///< Yaw angle in rad } mavlink_vision_position_estimate_t; /** * @brief Pack a vision_position_estimate 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 (milliseconds) * @param x Global X position * @param y Global Y position * @param z Global Z position * @param roll Roll angle in rad * @param pitch Pitch angle in rad * @param yaw Yaw angle in rad * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds) i += put_float_by_index(x, i, msg->payload); // Global X position i += put_float_by_index(y, i, msg->payload); // Global Y position i += put_float_by_index(z, i, msg->payload); // Global Z position i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad return mavlink_finalize_message(msg, system_id, component_id, i); } /** * @brief Pack a vision_position_estimate 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 (milliseconds) * @param x Global X position * @param y Global Y position * @param z Global Z position * @param roll Roll angle in rad * @param pitch Pitch angle in rad * @param yaw Yaw angle in rad * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_vision_position_estimate_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 roll, float pitch, float yaw) { uint16_t i = 0; msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE; i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds) i += put_float_by_index(x, i, msg->payload); // Global X position i += put_float_by_index(y, i, msg->payload); // Global Y position i += put_float_by_index(z, i, msg->payload); // Global Z position i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); } /** * @brief Encode a vision_position_estimate 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 vision_position_estimate C-struct to read the message contents from */ static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate) { return mavlink_msg_vision_position_estimate_pack(system_id, component_id, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw); } /** * @brief Send a vision_position_estimate message * @param chan MAVLink channel to send the message * * @param usec Timestamp (milliseconds) * @param x Global X position * @param y Global Y position * @param z Global Z position * @param roll Roll angle in rad * @param pitch Pitch angle in rad * @param yaw Yaw angle in rad */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw) { mavlink_message_t msg; mavlink_msg_vision_position_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z, roll, pitch, yaw); mavlink_send_uart(chan, &msg); } #endif // MESSAGE VISION_POSITION_ESTIMATE UNPACKING /** * @brief Get field usec from vision_position_estimate message * * @return Timestamp (milliseconds) */ static inline uint64_t mavlink_msg_vision_position_estimate_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 vision_position_estimate message * * @return Global X position */ static inline float mavlink_msg_vision_position_estimate_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 vision_position_estimate message * * @return Global Y position */ static inline float mavlink_msg_vision_position_estimate_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 vision_position_estimate message * * @return Global Z position */ static inline float mavlink_msg_vision_position_estimate_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 roll from vision_position_estimate message * * @return Roll angle in rad */ static inline float mavlink_msg_vision_position_estimate_get_roll(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 pitch from vision_position_estimate message * * @return Pitch angle in rad */ static inline float mavlink_msg_vision_position_estimate_get_pitch(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 yaw from vision_position_estimate message * * @return Yaw angle in rad */ static inline float mavlink_msg_vision_position_estimate_get_yaw(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 vision_position_estimate message into a struct * * @param msg The message to decode * @param vision_position_estimate C-struct to decode the message contents into */ static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_vision_position_estimate_t* vision_position_estimate) { vision_position_estimate->usec = mavlink_msg_vision_position_estimate_get_usec(msg); vision_position_estimate->x = mavlink_msg_vision_position_estimate_get_x(msg); vision_position_estimate->y = mavlink_msg_vision_position_estimate_get_y(msg); vision_position_estimate->z = mavlink_msg_vision_position_estimate_get_z(msg); vision_position_estimate->roll = mavlink_msg_vision_position_estimate_get_roll(msg); vision_position_estimate->pitch = mavlink_msg_vision_position_estimate_get_pitch(msg); vision_position_estimate->yaw = mavlink_msg_vision_position_estimate_get_yaw(msg); }