mavlink_msg_local_position_ned.h 14 KB

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  1. #pragma once
  2. // MESSAGE LOCAL_POSITION_NED PACKING
  3. #define MAVLINK_MSG_ID_LOCAL_POSITION_NED 32
  4. typedef struct __mavlink_local_position_ned_t {
  5. uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/
  6. float x; /*< [m] X Position*/
  7. float y; /*< [m] Y Position*/
  8. float z; /*< [m] Z Position*/
  9. float vx; /*< [m/s] X Speed*/
  10. float vy; /*< [m/s] Y Speed*/
  11. float vz; /*< [m/s] Z Speed*/
  12. } mavlink_local_position_ned_t;
  13. #define MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN 28
  14. #define MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN 28
  15. #define MAVLINK_MSG_ID_32_LEN 28
  16. #define MAVLINK_MSG_ID_32_MIN_LEN 28
  17. #define MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC 185
  18. #define MAVLINK_MSG_ID_32_CRC 185
  19. #if MAVLINK_COMMAND_24BIT
  20. #define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \
  21. 32, \
  22. "LOCAL_POSITION_NED", \
  23. 7, \
  24. { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
  25. { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
  26. { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
  27. { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
  28. { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
  29. { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
  30. { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
  31. } \
  32. }
  33. #else
  34. #define MAVLINK_MESSAGE_INFO_LOCAL_POSITION_NED { \
  35. "LOCAL_POSITION_NED", \
  36. 7, \
  37. { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_local_position_ned_t, time_boot_ms) }, \
  38. { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_local_position_ned_t, x) }, \
  39. { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_local_position_ned_t, y) }, \
  40. { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_local_position_ned_t, z) }, \
  41. { "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_local_position_ned_t, vx) }, \
  42. { "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_local_position_ned_t, vy) }, \
  43. { "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_local_position_ned_t, vz) }, \
  44. } \
  45. }
  46. #endif
  47. /**
  48. * @brief Pack a local_position_ned message
  49. * @param system_id ID of this system
  50. * @param component_id ID of this component (e.g. 200 for IMU)
  51. * @param msg The MAVLink message to compress the data into
  52. *
  53. * @param time_boot_ms [ms] Timestamp (time since system boot).
  54. * @param x [m] X Position
  55. * @param y [m] Y Position
  56. * @param z [m] Z Position
  57. * @param vx [m/s] X Speed
  58. * @param vy [m/s] Y Speed
  59. * @param vz [m/s] Z Speed
  60. * @return length of the message in bytes (excluding serial stream start sign)
  61. */
  62. static inline uint16_t mavlink_msg_local_position_ned_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  63. uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
  64. {
  65. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  66. char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
  67. _mav_put_uint32_t(buf, 0, time_boot_ms);
  68. _mav_put_float(buf, 4, x);
  69. _mav_put_float(buf, 8, y);
  70. _mav_put_float(buf, 12, z);
  71. _mav_put_float(buf, 16, vx);
  72. _mav_put_float(buf, 20, vy);
  73. _mav_put_float(buf, 24, vz);
  74. memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
  75. #else
  76. mavlink_local_position_ned_t packet;
  77. packet.time_boot_ms = time_boot_ms;
  78. packet.x = x;
  79. packet.y = y;
  80. packet.z = z;
  81. packet.vx = vx;
  82. packet.vy = vy;
  83. packet.vz = vz;
  84. memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
  85. #endif
  86. msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
  87. return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
  88. }
  89. /**
  90. * @brief Pack a local_position_ned message on a channel
  91. * @param system_id ID of this system
  92. * @param component_id ID of this component (e.g. 200 for IMU)
  93. * @param chan The MAVLink channel this message will be sent over
  94. * @param msg The MAVLink message to compress the data into
  95. * @param time_boot_ms [ms] Timestamp (time since system boot).
  96. * @param x [m] X Position
  97. * @param y [m] Y Position
  98. * @param z [m] Z Position
  99. * @param vx [m/s] X Speed
  100. * @param vy [m/s] Y Speed
  101. * @param vz [m/s] Z Speed
  102. * @return length of the message in bytes (excluding serial stream start sign)
  103. */
  104. static inline uint16_t mavlink_msg_local_position_ned_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  105. mavlink_message_t* msg,
  106. uint32_t time_boot_ms,float x,float y,float z,float vx,float vy,float vz)
  107. {
  108. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  109. char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
  110. _mav_put_uint32_t(buf, 0, time_boot_ms);
  111. _mav_put_float(buf, 4, x);
  112. _mav_put_float(buf, 8, y);
  113. _mav_put_float(buf, 12, z);
  114. _mav_put_float(buf, 16, vx);
  115. _mav_put_float(buf, 20, vy);
  116. _mav_put_float(buf, 24, vz);
  117. memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
  118. #else
  119. mavlink_local_position_ned_t packet;
  120. packet.time_boot_ms = time_boot_ms;
  121. packet.x = x;
  122. packet.y = y;
  123. packet.z = z;
  124. packet.vx = vx;
  125. packet.vy = vy;
  126. packet.vz = vz;
  127. memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
  128. #endif
  129. msg->msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED;
  130. return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
  131. }
  132. /**
  133. * @brief Encode a local_position_ned struct
  134. *
  135. * @param system_id ID of this system
  136. * @param component_id ID of this component (e.g. 200 for IMU)
  137. * @param msg The MAVLink message to compress the data into
  138. * @param local_position_ned C-struct to read the message contents from
  139. */
  140. static inline uint16_t mavlink_msg_local_position_ned_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
  141. {
  142. return mavlink_msg_local_position_ned_pack(system_id, component_id, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
  143. }
  144. /**
  145. * @brief Encode a local_position_ned struct on a channel
  146. *
  147. * @param system_id ID of this system
  148. * @param component_id ID of this component (e.g. 200 for IMU)
  149. * @param chan The MAVLink channel this message will be sent over
  150. * @param msg The MAVLink message to compress the data into
  151. * @param local_position_ned C-struct to read the message contents from
  152. */
  153. static inline uint16_t mavlink_msg_local_position_ned_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_local_position_ned_t* local_position_ned)
  154. {
  155. return mavlink_msg_local_position_ned_pack_chan(system_id, component_id, chan, msg, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
  156. }
  157. /**
  158. * @brief Send a local_position_ned message
  159. * @param chan MAVLink channel to send the message
  160. *
  161. * @param time_boot_ms [ms] Timestamp (time since system boot).
  162. * @param x [m] X Position
  163. * @param y [m] Y Position
  164. * @param z [m] Z Position
  165. * @param vx [m/s] X Speed
  166. * @param vy [m/s] Y Speed
  167. * @param vz [m/s] Z Speed
  168. */
  169. #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
  170. static inline void mavlink_msg_local_position_ned_send(mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
  171. {
  172. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  173. char buf[MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN];
  174. _mav_put_uint32_t(buf, 0, time_boot_ms);
  175. _mav_put_float(buf, 4, x);
  176. _mav_put_float(buf, 8, y);
  177. _mav_put_float(buf, 12, z);
  178. _mav_put_float(buf, 16, vx);
  179. _mav_put_float(buf, 20, vy);
  180. _mav_put_float(buf, 24, vz);
  181. _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
  182. #else
  183. mavlink_local_position_ned_t packet;
  184. packet.time_boot_ms = time_boot_ms;
  185. packet.x = x;
  186. packet.y = y;
  187. packet.z = z;
  188. packet.vx = vx;
  189. packet.vy = vy;
  190. packet.vz = vz;
  191. _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)&packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
  192. #endif
  193. }
  194. /**
  195. * @brief Send a local_position_ned message
  196. * @param chan MAVLink channel to send the message
  197. * @param struct The MAVLink struct to serialize
  198. */
  199. static inline void mavlink_msg_local_position_ned_send_struct(mavlink_channel_t chan, const mavlink_local_position_ned_t* local_position_ned)
  200. {
  201. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  202. mavlink_msg_local_position_ned_send(chan, local_position_ned->time_boot_ms, local_position_ned->x, local_position_ned->y, local_position_ned->z, local_position_ned->vx, local_position_ned->vy, local_position_ned->vz);
  203. #else
  204. _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)local_position_ned, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
  205. #endif
  206. }
  207. #if MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN <= MAVLINK_MAX_PAYLOAD_LEN
  208. /*
  209. This variant of _send() can be used to save stack space by re-using
  210. memory from the receive buffer. The caller provides a
  211. mavlink_message_t which is the size of a full mavlink message. This
  212. is usually the receive buffer for the channel, and allows a reply to an
  213. incoming message with minimum stack space usage.
  214. */
  215. static inline void mavlink_msg_local_position_ned_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, float x, float y, float z, float vx, float vy, float vz)
  216. {
  217. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  218. char *buf = (char *)msgbuf;
  219. _mav_put_uint32_t(buf, 0, time_boot_ms);
  220. _mav_put_float(buf, 4, x);
  221. _mav_put_float(buf, 8, y);
  222. _mav_put_float(buf, 12, z);
  223. _mav_put_float(buf, 16, vx);
  224. _mav_put_float(buf, 20, vy);
  225. _mav_put_float(buf, 24, vz);
  226. _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, buf, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
  227. #else
  228. mavlink_local_position_ned_t *packet = (mavlink_local_position_ned_t *)msgbuf;
  229. packet->time_boot_ms = time_boot_ms;
  230. packet->x = x;
  231. packet->y = y;
  232. packet->z = z;
  233. packet->vx = vx;
  234. packet->vy = vy;
  235. packet->vz = vz;
  236. _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LOCAL_POSITION_NED, (const char *)packet, MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN, MAVLINK_MSG_ID_LOCAL_POSITION_NED_CRC);
  237. #endif
  238. }
  239. #endif
  240. #endif
  241. // MESSAGE LOCAL_POSITION_NED UNPACKING
  242. /**
  243. * @brief Get field time_boot_ms from local_position_ned message
  244. *
  245. * @return [ms] Timestamp (time since system boot).
  246. */
  247. static inline uint32_t mavlink_msg_local_position_ned_get_time_boot_ms(const mavlink_message_t* msg)
  248. {
  249. return _MAV_RETURN_uint32_t(msg, 0);
  250. }
  251. /**
  252. * @brief Get field x from local_position_ned message
  253. *
  254. * @return [m] X Position
  255. */
  256. static inline float mavlink_msg_local_position_ned_get_x(const mavlink_message_t* msg)
  257. {
  258. return _MAV_RETURN_float(msg, 4);
  259. }
  260. /**
  261. * @brief Get field y from local_position_ned message
  262. *
  263. * @return [m] Y Position
  264. */
  265. static inline float mavlink_msg_local_position_ned_get_y(const mavlink_message_t* msg)
  266. {
  267. return _MAV_RETURN_float(msg, 8);
  268. }
  269. /**
  270. * @brief Get field z from local_position_ned message
  271. *
  272. * @return [m] Z Position
  273. */
  274. static inline float mavlink_msg_local_position_ned_get_z(const mavlink_message_t* msg)
  275. {
  276. return _MAV_RETURN_float(msg, 12);
  277. }
  278. /**
  279. * @brief Get field vx from local_position_ned message
  280. *
  281. * @return [m/s] X Speed
  282. */
  283. static inline float mavlink_msg_local_position_ned_get_vx(const mavlink_message_t* msg)
  284. {
  285. return _MAV_RETURN_float(msg, 16);
  286. }
  287. /**
  288. * @brief Get field vy from local_position_ned message
  289. *
  290. * @return [m/s] Y Speed
  291. */
  292. static inline float mavlink_msg_local_position_ned_get_vy(const mavlink_message_t* msg)
  293. {
  294. return _MAV_RETURN_float(msg, 20);
  295. }
  296. /**
  297. * @brief Get field vz from local_position_ned message
  298. *
  299. * @return [m/s] Z Speed
  300. */
  301. static inline float mavlink_msg_local_position_ned_get_vz(const mavlink_message_t* msg)
  302. {
  303. return _MAV_RETURN_float(msg, 24);
  304. }
  305. /**
  306. * @brief Decode a local_position_ned message into a struct
  307. *
  308. * @param msg The message to decode
  309. * @param local_position_ned C-struct to decode the message contents into
  310. */
  311. static inline void mavlink_msg_local_position_ned_decode(const mavlink_message_t* msg, mavlink_local_position_ned_t* local_position_ned)
  312. {
  313. #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  314. local_position_ned->time_boot_ms = mavlink_msg_local_position_ned_get_time_boot_ms(msg);
  315. local_position_ned->x = mavlink_msg_local_position_ned_get_x(msg);
  316. local_position_ned->y = mavlink_msg_local_position_ned_get_y(msg);
  317. local_position_ned->z = mavlink_msg_local_position_ned_get_z(msg);
  318. local_position_ned->vx = mavlink_msg_local_position_ned_get_vx(msg);
  319. local_position_ned->vy = mavlink_msg_local_position_ned_get_vy(msg);
  320. local_position_ned->vz = mavlink_msg_local_position_ned_get_vz(msg);
  321. #else
  322. uint8_t len = msg->len < MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN? msg->len : MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN;
  323. memset(local_position_ned, 0, MAVLINK_MSG_ID_LOCAL_POSITION_NED_LEN);
  324. memcpy(local_position_ned, _MAV_PAYLOAD(msg), len);
  325. #endif
  326. }