VK_Mavlink/v2.0/common/mavlink_msg_global_vision_position_estimate.h

#pragma once
// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE PACKING

#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE 101


typedef struct __mavlink_global_vision_position_estimate_t {
 uint64_t usec; /*< [us] Timestamp (UNIX time or since system boot)*/
 float x; /*< [m] Global X position*/
 float y; /*< [m] Global Y position*/
 float z; /*< [m] Global Z position*/
 float roll; /*< [rad] Roll angle*/
 float pitch; /*< [rad] Pitch angle*/
 float yaw; /*< [rad] Yaw angle*/
 float covariance[21]; /*<  Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.*/
 uint8_t reset_counter; /*<  Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.*/
} mavlink_global_vision_position_estimate_t;

#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 117
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN 32
#define MAVLINK_MSG_ID_101_LEN 117
#define MAVLINK_MSG_ID_101_MIN_LEN 32

#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC 102
#define MAVLINK_MSG_ID_101_CRC 102

#define MAVLINK_MSG_GLOBAL_VISION_POSITION_ESTIMATE_FIELD_COVARIANCE_LEN 21

#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
    101, \
    "GLOBAL_VISION_POSITION_ESTIMATE", \
    9, \
    {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
         { "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_global_vision_position_estimate_t, covariance) }, \
         { "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 116, offsetof(mavlink_global_vision_position_estimate_t, reset_counter) }, \
         } \
}
#else
#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
    "GLOBAL_VISION_POSITION_ESTIMATE", \
    9, \
    {  { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
         { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
         { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
         { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_global_vision_position_estimate_t, z) }, \
         { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
         { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
         { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
         { "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_global_vision_position_estimate_t, covariance) }, \
         { "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 116, offsetof(mavlink_global_vision_position_estimate_t, reset_counter) }, \
         } \
}
#endif

/**
 * @brief Pack a global_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 [us] Timestamp (UNIX time or since system boot)
 * @param x [m] Global X position
 * @param y [m] Global Y position
 * @param z [m] Global Z position
 * @param roll [rad] Roll angle
 * @param pitch [rad] Pitch angle
 * @param yaw [rad] Yaw angle
 * @param covariance  Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
 * @param reset_counter  Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_global_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, const float *covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
    _mav_put_uint64_t(buf, 0, usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 20, roll);
    _mav_put_float(buf, 24, pitch);
    _mav_put_float(buf, 28, yaw);
    _mav_put_uint8_t(buf, 116, reset_counter);
    _mav_put_float_array(buf, 32, covariance, 21);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
    mavlink_global_vision_position_estimate_t packet;
    packet.usec = usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.reset_counter = reset_counter;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
    return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
}

/**
 * @brief Pack a global_vision_position_estimate message
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param status MAVLink status structure
 * @param msg The MAVLink message to compress the data into
 *
 * @param usec [us] Timestamp (UNIX time or since system boot)
 * @param x [m] Global X position
 * @param y [m] Global Y position
 * @param z [m] Global Z position
 * @param roll [rad] Roll angle
 * @param pitch [rad] Pitch angle
 * @param yaw [rad] Yaw angle
 * @param covariance  Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
 * @param reset_counter  Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
                               uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
    _mav_put_uint64_t(buf, 0, usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 20, roll);
    _mav_put_float(buf, 24, pitch);
    _mav_put_float(buf, 28, yaw);
    _mav_put_uint8_t(buf, 116, reset_counter);
    _mav_put_float_array(buf, 32, covariance, 21);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
    mavlink_global_vision_position_estimate_t packet;
    packet.usec = usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.reset_counter = reset_counter;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
#if MAVLINK_CRC_EXTRA
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#else
    return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif
}

/**
 * @brief Pack a global_vision_position_estimate 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 will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param usec [us] Timestamp (UNIX time or since system boot)
 * @param x [m] Global X position
 * @param y [m] Global Y position
 * @param z [m] Global Z position
 * @param roll [rad] Roll angle
 * @param pitch [rad] Pitch angle
 * @param yaw [rad] Yaw angle
 * @param covariance  Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
 * @param reset_counter  Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
 * @return length of the message in bytes (excluding serial stream start sign)
 */
static inline uint16_t mavlink_msg_global_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,const float *covariance,uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
    _mav_put_uint64_t(buf, 0, usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 20, roll);
    _mav_put_float(buf, 24, pitch);
    _mav_put_float(buf, 28, yaw);
    _mav_put_uint8_t(buf, 116, reset_counter);
    _mav_put_float_array(buf, 32, covariance, 21);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
    mavlink_global_vision_position_estimate_t packet;
    packet.usec = usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.reset_counter = reset_counter;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
        memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif

    msg->msgid = MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE;
    return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
}

/**
 * @brief Encode a global_vision_position_estimate struct
 *
 * @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 global_vision_position_estimate C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
    return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw, global_vision_position_estimate->covariance, global_vision_position_estimate->reset_counter);
}

/**
 * @brief Encode a global_vision_position_estimate struct 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 will be sent over
 * @param msg The MAVLink message to compress the data into
 * @param global_vision_position_estimate C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
    return mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw, global_vision_position_estimate->covariance, global_vision_position_estimate->reset_counter);
}

/**
 * @brief Encode a global_vision_position_estimate struct with provided status structure
 *
 * @param system_id ID of this system
 * @param component_id ID of this component (e.g. 200 for IMU)
 * @param status MAVLink status structure
 * @param msg The MAVLink message to compress the data into
 * @param global_vision_position_estimate C-struct to read the message contents from
 */
static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
    return mavlink_msg_global_vision_position_estimate_pack_status(system_id, component_id, _status, msg,  global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw, global_vision_position_estimate->covariance, global_vision_position_estimate->reset_counter);
}

/**
 * @brief Send a global_vision_position_estimate message
 * @param chan MAVLink channel to send the message
 *
 * @param usec [us] Timestamp (UNIX time or since system boot)
 * @param x [m] Global X position
 * @param y [m] Global Y position
 * @param z [m] Global Z position
 * @param roll [rad] Roll angle
 * @param pitch [rad] Pitch angle
 * @param yaw [rad] Yaw angle
 * @param covariance  Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
 * @param reset_counter  Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
 */
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS

static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
    _mav_put_uint64_t(buf, 0, usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 20, roll);
    _mav_put_float(buf, 24, pitch);
    _mav_put_float(buf, 28, yaw);
    _mav_put_uint8_t(buf, 116, reset_counter);
    _mav_put_float_array(buf, 32, covariance, 21);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#else
    mavlink_global_vision_position_estimate_t packet;
    packet.usec = usec;
    packet.x = x;
    packet.y = y;
    packet.z = z;
    packet.roll = roll;
    packet.pitch = pitch;
    packet.yaw = yaw;
    packet.reset_counter = reset_counter;
    mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#endif
}

/**
 * @brief Send a global_vision_position_estimate message
 * @param chan MAVLink channel to send the message
 * @param struct The MAVLink struct to serialize
 */
static inline void mavlink_msg_global_vision_position_estimate_send_struct(mavlink_channel_t chan, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    mavlink_msg_global_vision_position_estimate_send(chan, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw, global_vision_position_estimate->covariance, global_vision_position_estimate->reset_counter);
#else
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)global_vision_position_estimate, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#endif
}

#if MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
  This variant of _send() can be used to save stack space by re-using
  memory from the receive buffer.  The caller provides a
  mavlink_message_t which is the size of a full mavlink message. This
  is usually the receive buffer for the channel, and allows a reply to an
  incoming message with minimum stack space usage.
 */
static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    char *buf = (char *)msgbuf;
    _mav_put_uint64_t(buf, 0, usec);
    _mav_put_float(buf, 8, x);
    _mav_put_float(buf, 12, y);
    _mav_put_float(buf, 16, z);
    _mav_put_float(buf, 20, roll);
    _mav_put_float(buf, 24, pitch);
    _mav_put_float(buf, 28, yaw);
    _mav_put_uint8_t(buf, 116, reset_counter);
    _mav_put_float_array(buf, 32, covariance, 21);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#else
    mavlink_global_vision_position_estimate_t *packet = (mavlink_global_vision_position_estimate_t *)msgbuf;
    packet->usec = usec;
    packet->x = x;
    packet->y = y;
    packet->z = z;
    packet->roll = roll;
    packet->pitch = pitch;
    packet->yaw = yaw;
    packet->reset_counter = reset_counter;
    mav_array_memcpy(packet->covariance, covariance, sizeof(float)*21);
    _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#endif
}
#endif

#endif

// MESSAGE GLOBAL_VISION_POSITION_ESTIMATE UNPACKING


/**
 * @brief Get field usec from global_vision_position_estimate message
 *
 * @return [us] Timestamp (UNIX time or since system boot)
 */
static inline uint64_t mavlink_msg_global_vision_position_estimate_get_usec(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint64_t(msg,  0);
}

/**
 * @brief Get field x from global_vision_position_estimate message
 *
 * @return [m] Global X position
 */
static inline float mavlink_msg_global_vision_position_estimate_get_x(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  8);
}

/**
 * @brief Get field y from global_vision_position_estimate message
 *
 * @return [m] Global Y position
 */
static inline float mavlink_msg_global_vision_position_estimate_get_y(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  12);
}

/**
 * @brief Get field z from global_vision_position_estimate message
 *
 * @return [m] Global Z position
 */
static inline float mavlink_msg_global_vision_position_estimate_get_z(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  16);
}

/**
 * @brief Get field roll from global_vision_position_estimate message
 *
 * @return [rad] Roll angle
 */
static inline float mavlink_msg_global_vision_position_estimate_get_roll(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  20);
}

/**
 * @brief Get field pitch from global_vision_position_estimate message
 *
 * @return [rad] Pitch angle
 */
static inline float mavlink_msg_global_vision_position_estimate_get_pitch(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  24);
}

/**
 * @brief Get field yaw from global_vision_position_estimate message
 *
 * @return [rad] Yaw angle
 */
static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const mavlink_message_t* msg)
{
    return _MAV_RETURN_float(msg,  28);
}

/**
 * @brief Get field covariance from global_vision_position_estimate message
 *
 * @return  Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
 */
static inline uint16_t mavlink_msg_global_vision_position_estimate_get_covariance(const mavlink_message_t* msg, float *covariance)
{
    return _MAV_RETURN_float_array(msg, covariance, 21,  32);
}

/**
 * @brief Get field reset_counter from global_vision_position_estimate message
 *
 * @return  Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
 */
static inline uint8_t mavlink_msg_global_vision_position_estimate_get_reset_counter(const mavlink_message_t* msg)
{
    return _MAV_RETURN_uint8_t(msg,  116);
}

/**
 * @brief Decode a global_vision_position_estimate message into a struct
 *
 * @param msg The message to decode
 * @param global_vision_position_estimate C-struct to decode the message contents into
 */
static inline void mavlink_msg_global_vision_position_estimate_decode(const mavlink_message_t* msg, mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
    global_vision_position_estimate->usec = mavlink_msg_global_vision_position_estimate_get_usec(msg);
    global_vision_position_estimate->x = mavlink_msg_global_vision_position_estimate_get_x(msg);
    global_vision_position_estimate->y = mavlink_msg_global_vision_position_estimate_get_y(msg);
    global_vision_position_estimate->z = mavlink_msg_global_vision_position_estimate_get_z(msg);
    global_vision_position_estimate->roll = mavlink_msg_global_vision_position_estimate_get_roll(msg);
    global_vision_position_estimate->pitch = mavlink_msg_global_vision_position_estimate_get_pitch(msg);
    global_vision_position_estimate->yaw = mavlink_msg_global_vision_position_estimate_get_yaw(msg);
    mavlink_msg_global_vision_position_estimate_get_covariance(msg, global_vision_position_estimate->covariance);
    global_vision_position_estimate->reset_counter = mavlink_msg_global_vision_position_estimate_get_reset_counter(msg);
#else
        uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN;
        memset(global_vision_position_estimate, 0, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
    memcpy(global_vision_position_estimate, _MAV_PAYLOAD(msg), len);
#endif
}