Michael Shimniok / Mbed 2 deprecated AVC_2012

Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.

Dependencies:   Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo

MAVlink/include/pixhawk/mavlink_msg_visual_odometry.h@0:826c6171fc1b, 2012-06-20 (annotated)

Committer:
shimniok
Date:
Wed Jun 20 14:57:48 2012 +0000
Revision:
0:826c6171fc1b
Updated documentation

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 0:826c6171fc1b 1 // MESSAGE VISUAL_ODOMETRY PACKING
shimniok 0:826c6171fc1b 2
shimniok 0:826c6171fc1b 3 #define MAVLINK_MSG_ID_VISUAL_ODOMETRY 180
shimniok 0:826c6171fc1b 4
shimniok 0:826c6171fc1b 5 typedef struct __mavlink_visual_odometry_t
shimniok 0:826c6171fc1b 6 {
shimniok 0:826c6171fc1b 7 uint64_t frame1_time_us; ///< Time at which frame 1 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 8 uint64_t frame2_time_us; ///< Time at which frame 2 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 9 float x; ///< Relative X position
shimniok 0:826c6171fc1b 10 float y; ///< Relative Y position
shimniok 0:826c6171fc1b 11 float z; ///< Relative Z position
shimniok 0:826c6171fc1b 12 float roll; ///< Relative roll angle in rad
shimniok 0:826c6171fc1b 13 float pitch; ///< Relative pitch angle in rad
shimniok 0:826c6171fc1b 14 float yaw; ///< Relative yaw angle in rad
shimniok 0:826c6171fc1b 15
shimniok 0:826c6171fc1b 16 } mavlink_visual_odometry_t;
shimniok 0:826c6171fc1b 17
shimniok 0:826c6171fc1b 18
shimniok 0:826c6171fc1b 19
shimniok 0:826c6171fc1b 20 /**
shimniok 0:826c6171fc1b 21 * @brief Pack a visual_odometry message
shimniok 0:826c6171fc1b 22 * @param system_id ID of this system
shimniok 0:826c6171fc1b 23 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 24 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 25 *
shimniok 0:826c6171fc1b 26 * @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 27 * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 28 * @param x Relative X position
shimniok 0:826c6171fc1b 29 * @param y Relative Y position
shimniok 0:826c6171fc1b 30 * @param z Relative Z position
shimniok 0:826c6171fc1b 31 * @param roll Relative roll angle in rad
shimniok 0:826c6171fc1b 32 * @param pitch Relative pitch angle in rad
shimniok 0:826c6171fc1b 33 * @param yaw Relative yaw angle in rad
shimniok 0:826c6171fc1b 34 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 35 */
shimniok 0:826c6171fc1b 36 static inline uint16_t mavlink_msg_visual_odometry_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw)
shimniok 0:826c6171fc1b 37 {
shimniok 0:826c6171fc1b 38 uint16_t i = 0;
shimniok 0:826c6171fc1b 39 msg->msgid = MAVLINK_MSG_ID_VISUAL_ODOMETRY;
shimniok 0:826c6171fc1b 40
shimniok 0:826c6171fc1b 41 i += put_uint64_t_by_index(frame1_time_us, i, msg->payload); // Time at which frame 1 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 42 i += put_uint64_t_by_index(frame2_time_us, i, msg->payload); // Time at which frame 2 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 43 i += put_float_by_index(x, i, msg->payload); // Relative X position
shimniok 0:826c6171fc1b 44 i += put_float_by_index(y, i, msg->payload); // Relative Y position
shimniok 0:826c6171fc1b 45 i += put_float_by_index(z, i, msg->payload); // Relative Z position
shimniok 0:826c6171fc1b 46 i += put_float_by_index(roll, i, msg->payload); // Relative roll angle in rad
shimniok 0:826c6171fc1b 47 i += put_float_by_index(pitch, i, msg->payload); // Relative pitch angle in rad
shimniok 0:826c6171fc1b 48 i += put_float_by_index(yaw, i, msg->payload); // Relative yaw angle in rad
shimniok 0:826c6171fc1b 49
shimniok 0:826c6171fc1b 50 return mavlink_finalize_message(msg, system_id, component_id, i);
shimniok 0:826c6171fc1b 51 }
shimniok 0:826c6171fc1b 52
shimniok 0:826c6171fc1b 53 /**
shimniok 0:826c6171fc1b 54 * @brief Pack a visual_odometry message
shimniok 0:826c6171fc1b 55 * @param system_id ID of this system
shimniok 0:826c6171fc1b 56 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 57 * @param chan The MAVLink channel this message was sent over
shimniok 0:826c6171fc1b 58 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 59 * @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 60 * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 61 * @param x Relative X position
shimniok 0:826c6171fc1b 62 * @param y Relative Y position
shimniok 0:826c6171fc1b 63 * @param z Relative Z position
shimniok 0:826c6171fc1b 64 * @param roll Relative roll angle in rad
shimniok 0:826c6171fc1b 65 * @param pitch Relative pitch angle in rad
shimniok 0:826c6171fc1b 66 * @param yaw Relative yaw angle in rad
shimniok 0:826c6171fc1b 67 * @return length of the message in bytes (excluding serial stream start sign)
shimniok 0:826c6171fc1b 68 */
shimniok 0:826c6171fc1b 69 static inline uint16_t mavlink_msg_visual_odometry_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw)
shimniok 0:826c6171fc1b 70 {
shimniok 0:826c6171fc1b 71 uint16_t i = 0;
shimniok 0:826c6171fc1b 72 msg->msgid = MAVLINK_MSG_ID_VISUAL_ODOMETRY;
shimniok 0:826c6171fc1b 73
shimniok 0:826c6171fc1b 74 i += put_uint64_t_by_index(frame1_time_us, i, msg->payload); // Time at which frame 1 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 75 i += put_uint64_t_by_index(frame2_time_us, i, msg->payload); // Time at which frame 2 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 76 i += put_float_by_index(x, i, msg->payload); // Relative X position
shimniok 0:826c6171fc1b 77 i += put_float_by_index(y, i, msg->payload); // Relative Y position
shimniok 0:826c6171fc1b 78 i += put_float_by_index(z, i, msg->payload); // Relative Z position
shimniok 0:826c6171fc1b 79 i += put_float_by_index(roll, i, msg->payload); // Relative roll angle in rad
shimniok 0:826c6171fc1b 80 i += put_float_by_index(pitch, i, msg->payload); // Relative pitch angle in rad
shimniok 0:826c6171fc1b 81 i += put_float_by_index(yaw, i, msg->payload); // Relative yaw angle in rad
shimniok 0:826c6171fc1b 82
shimniok 0:826c6171fc1b 83 return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
shimniok 0:826c6171fc1b 84 }
shimniok 0:826c6171fc1b 85
shimniok 0:826c6171fc1b 86 /**
shimniok 0:826c6171fc1b 87 * @brief Encode a visual_odometry struct into a message
shimniok 0:826c6171fc1b 88 *
shimniok 0:826c6171fc1b 89 * @param system_id ID of this system
shimniok 0:826c6171fc1b 90 * @param component_id ID of this component (e.g. 200 for IMU)
shimniok 0:826c6171fc1b 91 * @param msg The MAVLink message to compress the data into
shimniok 0:826c6171fc1b 92 * @param visual_odometry C-struct to read the message contents from
shimniok 0:826c6171fc1b 93 */
shimniok 0:826c6171fc1b 94 static inline uint16_t mavlink_msg_visual_odometry_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_visual_odometry_t* visual_odometry)
shimniok 0:826c6171fc1b 95 {
shimniok 0:826c6171fc1b 96 return mavlink_msg_visual_odometry_pack(system_id, component_id, msg, visual_odometry->frame1_time_us, visual_odometry->frame2_time_us, visual_odometry->x, visual_odometry->y, visual_odometry->z, visual_odometry->roll, visual_odometry->pitch, visual_odometry->yaw);
shimniok 0:826c6171fc1b 97 }
shimniok 0:826c6171fc1b 98
shimniok 0:826c6171fc1b 99 /**
shimniok 0:826c6171fc1b 100 * @brief Send a visual_odometry message
shimniok 0:826c6171fc1b 101 * @param chan MAVLink channel to send the message
shimniok 0:826c6171fc1b 102 *
shimniok 0:826c6171fc1b 103 * @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 104 * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 105 * @param x Relative X position
shimniok 0:826c6171fc1b 106 * @param y Relative Y position
shimniok 0:826c6171fc1b 107 * @param z Relative Z position
shimniok 0:826c6171fc1b 108 * @param roll Relative roll angle in rad
shimniok 0:826c6171fc1b 109 * @param pitch Relative pitch angle in rad
shimniok 0:826c6171fc1b 110 * @param yaw Relative yaw angle in rad
shimniok 0:826c6171fc1b 111 */
shimniok 0:826c6171fc1b 112 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
shimniok 0:826c6171fc1b 113
shimniok 0:826c6171fc1b 114 static inline void mavlink_msg_visual_odometry_send(mavlink_channel_t chan, uint64_t frame1_time_us, uint64_t frame2_time_us, float x, float y, float z, float roll, float pitch, float yaw)
shimniok 0:826c6171fc1b 115 {
shimniok 0:826c6171fc1b 116 mavlink_message_t msg;
shimniok 0:826c6171fc1b 117 mavlink_msg_visual_odometry_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, frame1_time_us, frame2_time_us, x, y, z, roll, pitch, yaw);
shimniok 0:826c6171fc1b 118 mavlink_send_uart(chan, &msg);
shimniok 0:826c6171fc1b 119 }
shimniok 0:826c6171fc1b 120
shimniok 0:826c6171fc1b 121 #endif
shimniok 0:826c6171fc1b 122 // MESSAGE VISUAL_ODOMETRY UNPACKING
shimniok 0:826c6171fc1b 123
shimniok 0:826c6171fc1b 124 /**
shimniok 0:826c6171fc1b 125 * @brief Get field frame1_time_us from visual_odometry message
shimniok 0:826c6171fc1b 126 *
shimniok 0:826c6171fc1b 127 * @return Time at which frame 1 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 128 */
shimniok 0:826c6171fc1b 129 static inline uint64_t mavlink_msg_visual_odometry_get_frame1_time_us(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 130 {
shimniok 0:826c6171fc1b 131 generic_64bit r;
shimniok 0:826c6171fc1b 132 r.b[7] = (msg->payload)[0];
shimniok 0:826c6171fc1b 133 r.b[6] = (msg->payload)[1];
shimniok 0:826c6171fc1b 134 r.b[5] = (msg->payload)[2];
shimniok 0:826c6171fc1b 135 r.b[4] = (msg->payload)[3];
shimniok 0:826c6171fc1b 136 r.b[3] = (msg->payload)[4];
shimniok 0:826c6171fc1b 137 r.b[2] = (msg->payload)[5];
shimniok 0:826c6171fc1b 138 r.b[1] = (msg->payload)[6];
shimniok 0:826c6171fc1b 139 r.b[0] = (msg->payload)[7];
shimniok 0:826c6171fc1b 140 return (uint64_t)r.ll;
shimniok 0:826c6171fc1b 141 }
shimniok 0:826c6171fc1b 142
shimniok 0:826c6171fc1b 143 /**
shimniok 0:826c6171fc1b 144 * @brief Get field frame2_time_us from visual_odometry message
shimniok 0:826c6171fc1b 145 *
shimniok 0:826c6171fc1b 146 * @return Time at which frame 2 was captured (in microseconds since unix epoch)
shimniok 0:826c6171fc1b 147 */
shimniok 0:826c6171fc1b 148 static inline uint64_t mavlink_msg_visual_odometry_get_frame2_time_us(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 149 {
shimniok 0:826c6171fc1b 150 generic_64bit r;
shimniok 0:826c6171fc1b 151 r.b[7] = (msg->payload+sizeof(uint64_t))[0];
shimniok 0:826c6171fc1b 152 r.b[6] = (msg->payload+sizeof(uint64_t))[1];
shimniok 0:826c6171fc1b 153 r.b[5] = (msg->payload+sizeof(uint64_t))[2];
shimniok 0:826c6171fc1b 154 r.b[4] = (msg->payload+sizeof(uint64_t))[3];
shimniok 0:826c6171fc1b 155 r.b[3] = (msg->payload+sizeof(uint64_t))[4];
shimniok 0:826c6171fc1b 156 r.b[2] = (msg->payload+sizeof(uint64_t))[5];
shimniok 0:826c6171fc1b 157 r.b[1] = (msg->payload+sizeof(uint64_t))[6];
shimniok 0:826c6171fc1b 158 r.b[0] = (msg->payload+sizeof(uint64_t))[7];
shimniok 0:826c6171fc1b 159 return (uint64_t)r.ll;
shimniok 0:826c6171fc1b 160 }
shimniok 0:826c6171fc1b 161
shimniok 0:826c6171fc1b 162 /**
shimniok 0:826c6171fc1b 163 * @brief Get field x from visual_odometry message
shimniok 0:826c6171fc1b 164 *
shimniok 0:826c6171fc1b 165 * @return Relative X position
shimniok 0:826c6171fc1b 166 */
shimniok 0:826c6171fc1b 167 static inline float mavlink_msg_visual_odometry_get_x(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 168 {
shimniok 0:826c6171fc1b 169 generic_32bit r;
shimniok 0:826c6171fc1b 170 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[0];
shimniok 0:826c6171fc1b 171 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[1];
shimniok 0:826c6171fc1b 172 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[2];
shimniok 0:826c6171fc1b 173 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[3];
shimniok 0:826c6171fc1b 174 return (float)r.f;
shimniok 0:826c6171fc1b 175 }
shimniok 0:826c6171fc1b 176
shimniok 0:826c6171fc1b 177 /**
shimniok 0:826c6171fc1b 178 * @brief Get field y from visual_odometry message
shimniok 0:826c6171fc1b 179 *
shimniok 0:826c6171fc1b 180 * @return Relative Y position
shimniok 0:826c6171fc1b 181 */
shimniok 0:826c6171fc1b 182 static inline float mavlink_msg_visual_odometry_get_y(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 183 {
shimniok 0:826c6171fc1b 184 generic_32bit r;
shimniok 0:826c6171fc1b 185 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[0];
shimniok 0:826c6171fc1b 186 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[1];
shimniok 0:826c6171fc1b 187 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[2];
shimniok 0:826c6171fc1b 188 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[3];
shimniok 0:826c6171fc1b 189 return (float)r.f;
shimniok 0:826c6171fc1b 190 }
shimniok 0:826c6171fc1b 191
shimniok 0:826c6171fc1b 192 /**
shimniok 0:826c6171fc1b 193 * @brief Get field z from visual_odometry message
shimniok 0:826c6171fc1b 194 *
shimniok 0:826c6171fc1b 195 * @return Relative Z position
shimniok 0:826c6171fc1b 196 */
shimniok 0:826c6171fc1b 197 static inline float mavlink_msg_visual_odometry_get_z(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 198 {
shimniok 0:826c6171fc1b 199 generic_32bit r;
shimniok 0:826c6171fc1b 200 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 201 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 202 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 203 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 204 return (float)r.f;
shimniok 0:826c6171fc1b 205 }
shimniok 0:826c6171fc1b 206
shimniok 0:826c6171fc1b 207 /**
shimniok 0:826c6171fc1b 208 * @brief Get field roll from visual_odometry message
shimniok 0:826c6171fc1b 209 *
shimniok 0:826c6171fc1b 210 * @return Relative roll angle in rad
shimniok 0:826c6171fc1b 211 */
shimniok 0:826c6171fc1b 212 static inline float mavlink_msg_visual_odometry_get_roll(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 213 {
shimniok 0:826c6171fc1b 214 generic_32bit r;
shimniok 0:826c6171fc1b 215 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 216 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 217 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 218 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 219 return (float)r.f;
shimniok 0:826c6171fc1b 220 }
shimniok 0:826c6171fc1b 221
shimniok 0:826c6171fc1b 222 /**
shimniok 0:826c6171fc1b 223 * @brief Get field pitch from visual_odometry message
shimniok 0:826c6171fc1b 224 *
shimniok 0:826c6171fc1b 225 * @return Relative pitch angle in rad
shimniok 0:826c6171fc1b 226 */
shimniok 0:826c6171fc1b 227 static inline float mavlink_msg_visual_odometry_get_pitch(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 228 {
shimniok 0:826c6171fc1b 229 generic_32bit r;
shimniok 0:826c6171fc1b 230 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 231 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 232 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 233 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 234 return (float)r.f;
shimniok 0:826c6171fc1b 235 }
shimniok 0:826c6171fc1b 236
shimniok 0:826c6171fc1b 237 /**
shimniok 0:826c6171fc1b 238 * @brief Get field yaw from visual_odometry message
shimniok 0:826c6171fc1b 239 *
shimniok 0:826c6171fc1b 240 * @return Relative yaw angle in rad
shimniok 0:826c6171fc1b 241 */
shimniok 0:826c6171fc1b 242 static inline float mavlink_msg_visual_odometry_get_yaw(const mavlink_message_t* msg)
shimniok 0:826c6171fc1b 243 {
shimniok 0:826c6171fc1b 244 generic_32bit r;
shimniok 0:826c6171fc1b 245 r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
shimniok 0:826c6171fc1b 246 r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
shimniok 0:826c6171fc1b 247 r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
shimniok 0:826c6171fc1b 248 r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
shimniok 0:826c6171fc1b 249 return (float)r.f;
shimniok 0:826c6171fc1b 250 }
shimniok 0:826c6171fc1b 251
shimniok 0:826c6171fc1b 252 /**
shimniok 0:826c6171fc1b 253 * @brief Decode a visual_odometry message into a struct
shimniok 0:826c6171fc1b 254 *
shimniok 0:826c6171fc1b 255 * @param msg The message to decode
shimniok 0:826c6171fc1b 256 * @param visual_odometry C-struct to decode the message contents into
shimniok 0:826c6171fc1b 257 */
shimniok 0:826c6171fc1b 258 static inline void mavlink_msg_visual_odometry_decode(const mavlink_message_t* msg, mavlink_visual_odometry_t* visual_odometry)
shimniok 0:826c6171fc1b 259 {
shimniok 0:826c6171fc1b 260 visual_odometry->frame1_time_us = mavlink_msg_visual_odometry_get_frame1_time_us(msg);
shimniok 0:826c6171fc1b 261 visual_odometry->frame2_time_us = mavlink_msg_visual_odometry_get_frame2_time_us(msg);
shimniok 0:826c6171fc1b 262 visual_odometry->x = mavlink_msg_visual_odometry_get_x(msg);
shimniok 0:826c6171fc1b 263 visual_odometry->y = mavlink_msg_visual_odometry_get_y(msg);
shimniok 0:826c6171fc1b 264 visual_odometry->z = mavlink_msg_visual_odometry_get_z(msg);
shimniok 0:826c6171fc1b 265 visual_odometry->roll = mavlink_msg_visual_odometry_get_roll(msg);
shimniok 0:826c6171fc1b 266 visual_odometry->pitch = mavlink_msg_visual_odometry_get_pitch(msg);
shimniok 0:826c6171fc1b 267 visual_odometry->yaw = mavlink_msg_visual_odometry_get_yaw(msg);
shimniok 0:826c6171fc1b 268 }