mavlink_msg_image_triggered.h

00001 // MESSAGE IMAGE_TRIGGERED PACKING
00002 
00003 #define MAVLINK_MSG_ID_IMAGE_TRIGGERED 101
00004 
00005 typedef struct __mavlink_image_triggered_t 
00006 {
00007     uint64_t timestamp; ///< Timestamp
00008     uint32_t seq; ///< IMU seq
00009     float roll; ///< Roll angle in rad
00010     float pitch; ///< Pitch angle in rad
00011     float yaw; ///< Yaw angle in rad
00012     float local_z; ///< Local frame Z coordinate (height over ground)
00013     float lat; ///< GPS X coordinate
00014     float lon; ///< GPS Y coordinate
00015     float alt; ///< Global frame altitude
00016     float ground_x; ///< Ground truth X
00017     float ground_y; ///< Ground truth Y
00018     float ground_z; ///< Ground truth Z
00019 
00020 } mavlink_image_triggered_t;
00021 
00022 
00023 
00024 /**
00025  * @brief Pack a image_triggered message
00026  * @param system_id ID of this system
00027  * @param component_id ID of this component (e.g. 200 for IMU)
00028  * @param msg The MAVLink message to compress the data into
00029  *
00030  * @param timestamp Timestamp
00031  * @param seq IMU seq
00032  * @param roll Roll angle in rad
00033  * @param pitch Pitch angle in rad
00034  * @param yaw Yaw angle in rad
00035  * @param local_z Local frame Z coordinate (height over ground)
00036  * @param lat GPS X coordinate
00037  * @param lon GPS Y coordinate
00038  * @param alt Global frame altitude
00039  * @param ground_x Ground truth X
00040  * @param ground_y Ground truth Y
00041  * @param ground_z Ground truth Z
00042  * @return length of the message in bytes (excluding serial stream start sign)
00043  */
00044 static inline uint16_t mavlink_msg_image_triggered_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
00045 {
00046     uint16_t i = 0;
00047     msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
00048 
00049     i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp
00050     i += put_uint32_t_by_index(seq, i, msg->payload); // IMU seq
00051     i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad
00052     i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad
00053     i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad
00054     i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground)
00055     i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate
00056     i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate
00057     i += put_float_by_index(alt, i, msg->payload); // Global frame altitude
00058     i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X
00059     i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y
00060     i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z
00061 
00062     return mavlink_finalize_message(msg, system_id, component_id, i);
00063 }
00064 
00065 /**
00066  * @brief Pack a image_triggered message
00067  * @param system_id ID of this system
00068  * @param component_id ID of this component (e.g. 200 for IMU)
00069  * @param chan The MAVLink channel this message was sent over
00070  * @param msg The MAVLink message to compress the data into
00071  * @param timestamp Timestamp
00072  * @param seq IMU seq
00073  * @param roll Roll angle in rad
00074  * @param pitch Pitch angle in rad
00075  * @param yaw Yaw angle in rad
00076  * @param local_z Local frame Z coordinate (height over ground)
00077  * @param lat GPS X coordinate
00078  * @param lon GPS Y coordinate
00079  * @param alt Global frame altitude
00080  * @param ground_x Ground truth X
00081  * @param ground_y Ground truth Y
00082  * @param ground_z Ground truth Z
00083  * @return length of the message in bytes (excluding serial stream start sign)
00084  */
00085 static inline uint16_t mavlink_msg_image_triggered_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
00086 {
00087     uint16_t i = 0;
00088     msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED;
00089 
00090     i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp
00091     i += put_uint32_t_by_index(seq, i, msg->payload); // IMU seq
00092     i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad
00093     i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad
00094     i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad
00095     i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground)
00096     i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate
00097     i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate
00098     i += put_float_by_index(alt, i, msg->payload); // Global frame altitude
00099     i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X
00100     i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y
00101     i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z
00102 
00103     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00104 }
00105 
00106 /**
00107  * @brief Encode a image_triggered struct into a message
00108  *
00109  * @param system_id ID of this system
00110  * @param component_id ID of this component (e.g. 200 for IMU)
00111  * @param msg The MAVLink message to compress the data into
00112  * @param image_triggered C-struct to read the message contents from
00113  */
00114 static inline uint16_t mavlink_msg_image_triggered_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_triggered_t* image_triggered)
00115 {
00116     return mavlink_msg_image_triggered_pack(system_id, component_id, msg, image_triggered->timestamp, image_triggered->seq, image_triggered->roll, image_triggered->pitch, image_triggered->yaw, image_triggered->local_z, image_triggered->lat, image_triggered->lon, image_triggered->alt, image_triggered->ground_x, image_triggered->ground_y, image_triggered->ground_z);
00117 }
00118 
00119 /**
00120  * @brief Send a image_triggered message
00121  * @param chan MAVLink channel to send the message
00122  *
00123  * @param timestamp Timestamp
00124  * @param seq IMU seq
00125  * @param roll Roll angle in rad
00126  * @param pitch Pitch angle in rad
00127  * @param yaw Yaw angle in rad
00128  * @param local_z Local frame Z coordinate (height over ground)
00129  * @param lat GPS X coordinate
00130  * @param lon GPS Y coordinate
00131  * @param alt Global frame altitude
00132  * @param ground_x Ground truth X
00133  * @param ground_y Ground truth Y
00134  * @param ground_z Ground truth Z
00135  */
00136 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00137 
00138 static inline void mavlink_msg_image_triggered_send(mavlink_channel_t chan, uint64_t timestamp, uint32_t seq, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z)
00139 {
00140     mavlink_message_t msg;
00141     mavlink_msg_image_triggered_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, timestamp, seq, roll, pitch, yaw, local_z, lat, lon, alt, ground_x, ground_y, ground_z);
00142     mavlink_send_uart(chan, &msg);
00143 }
00144 
00145 #endif
00146 // MESSAGE IMAGE_TRIGGERED UNPACKING
00147 
00148 /**
00149  * @brief Get field timestamp from image_triggered message
00150  *
00151  * @return Timestamp
00152  */
00153 static inline uint64_t mavlink_msg_image_triggered_get_timestamp(const mavlink_message_t* msg)
00154 {
00155     generic_64bit r;
00156     r.b[7] = (msg->payload)[0];
00157     r.b[6] = (msg->payload)[1];
00158     r.b[5] = (msg->payload)[2];
00159     r.b[4] = (msg->payload)[3];
00160     r.b[3] = (msg->payload)[4];
00161     r.b[2] = (msg->payload)[5];
00162     r.b[1] = (msg->payload)[6];
00163     r.b[0] = (msg->payload)[7];
00164     return (uint64_t)r.ll;
00165 }
00166 
00167 /**
00168  * @brief Get field seq from image_triggered message
00169  *
00170  * @return IMU seq
00171  */
00172 static inline uint32_t mavlink_msg_image_triggered_get_seq(const mavlink_message_t* msg)
00173 {
00174     generic_32bit r;
00175     r.b[3] = (msg->payload+sizeof(uint64_t))[0];
00176     r.b[2] = (msg->payload+sizeof(uint64_t))[1];
00177     r.b[1] = (msg->payload+sizeof(uint64_t))[2];
00178     r.b[0] = (msg->payload+sizeof(uint64_t))[3];
00179     return (uint32_t)r.i;
00180 }
00181 
00182 /**
00183  * @brief Get field roll from image_triggered message
00184  *
00185  * @return Roll angle in rad
00186  */
00187 static inline float mavlink_msg_image_triggered_get_roll(const mavlink_message_t* msg)
00188 {
00189     generic_32bit r;
00190     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[0];
00191     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[1];
00192     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[2];
00193     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[3];
00194     return (float)r.f;
00195 }
00196 
00197 /**
00198  * @brief Get field pitch from image_triggered message
00199  *
00200  * @return Pitch angle in rad
00201  */
00202 static inline float mavlink_msg_image_triggered_get_pitch(const mavlink_message_t* msg)
00203 {
00204     generic_32bit r;
00205     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[0];
00206     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[1];
00207     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[2];
00208     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[3];
00209     return (float)r.f;
00210 }
00211 
00212 /**
00213  * @brief Get field yaw from image_triggered message
00214  *
00215  * @return Yaw angle in rad
00216  */
00217 static inline float mavlink_msg_image_triggered_get_yaw(const mavlink_message_t* msg)
00218 {
00219     generic_32bit r;
00220     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[0];
00221     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[1];
00222     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[2];
00223     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[3];
00224     return (float)r.f;
00225 }
00226 
00227 /**
00228  * @brief Get field local_z from image_triggered message
00229  *
00230  * @return Local frame Z coordinate (height over ground)
00231  */
00232 static inline float mavlink_msg_image_triggered_get_local_z(const mavlink_message_t* msg)
00233 {
00234     generic_32bit r;
00235     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00236     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00237     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00238     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00239     return (float)r.f;
00240 }
00241 
00242 /**
00243  * @brief Get field lat from image_triggered message
00244  *
00245  * @return GPS X coordinate
00246  */
00247 static inline float mavlink_msg_image_triggered_get_lat(const mavlink_message_t* msg)
00248 {
00249     generic_32bit r;
00250     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00251     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00252     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00253     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00254     return (float)r.f;
00255 }
00256 
00257 /**
00258  * @brief Get field lon from image_triggered message
00259  *
00260  * @return GPS Y coordinate
00261  */
00262 static inline float mavlink_msg_image_triggered_get_lon(const mavlink_message_t* msg)
00263 {
00264     generic_32bit r;
00265     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00266     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00267     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00268     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00269     return (float)r.f;
00270 }
00271 
00272 /**
00273  * @brief Get field alt from image_triggered message
00274  *
00275  * @return Global frame altitude
00276  */
00277 static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t* msg)
00278 {
00279     generic_32bit r;
00280     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00281     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00282     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00283     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00284     return (float)r.f;
00285 }
00286 
00287 /**
00288  * @brief Get field ground_x from image_triggered message
00289  *
00290  * @return Ground truth X
00291  */
00292 static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_message_t* msg)
00293 {
00294     generic_32bit r;
00295     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00296     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00297     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00298     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00299     return (float)r.f;
00300 }
00301 
00302 /**
00303  * @brief Get field ground_y from image_triggered message
00304  *
00305  * @return Ground truth Y
00306  */
00307 static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_message_t* msg)
00308 {
00309     generic_32bit r;
00310     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00311     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00312     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00313     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00314     return (float)r.f;
00315 }
00316 
00317 /**
00318  * @brief Get field ground_z from image_triggered message
00319  *
00320  * @return Ground truth Z
00321  */
00322 static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_message_t* msg)
00323 {
00324     generic_32bit r;
00325     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00326     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00327     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00328     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00329     return (float)r.f;
00330 }
00331 
00332 /**
00333  * @brief Decode a image_triggered message into a struct
00334  *
00335  * @param msg The message to decode
00336  * @param image_triggered C-struct to decode the message contents into
00337  */
00338 static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* msg, mavlink_image_triggered_t* image_triggered)
00339 {
00340     image_triggered->timestamp = mavlink_msg_image_triggered_get_timestamp(msg);
00341     image_triggered->seq = mavlink_msg_image_triggered_get_seq(msg);
00342     image_triggered->roll = mavlink_msg_image_triggered_get_roll(msg);
00343     image_triggered->pitch = mavlink_msg_image_triggered_get_pitch(msg);
00344     image_triggered->yaw = mavlink_msg_image_triggered_get_yaw(msg);
00345     image_triggered->local_z = mavlink_msg_image_triggered_get_local_z(msg);
00346     image_triggered->lat = mavlink_msg_image_triggered_get_lat(msg);
00347     image_triggered->lon = mavlink_msg_image_triggered_get_lon(msg);
00348     image_triggered->alt = mavlink_msg_image_triggered_get_alt(msg);
00349     image_triggered->ground_x = mavlink_msg_image_triggered_get_ground_x(msg);
00350     image_triggered->ground_y = mavlink_msg_image_triggered_get_ground_y(msg);
00351     image_triggered->ground_z = mavlink_msg_image_triggered_get_ground_z(msg);
00352 }