mavlink_msg_vision_speed_estimate.h

00001 // MESSAGE VISION_SPEED_ESTIMATE PACKING
00002 
00003 #define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE 113
00004 
00005 typedef struct __mavlink_vision_speed_estimate_t 
00006 {
00007     uint64_t usec; ///< Timestamp (milliseconds)
00008     float x; ///< Global X speed
00009     float y; ///< Global Y speed
00010     float z; ///< Global Z speed
00011 
00012 } mavlink_vision_speed_estimate_t;
00013 
00014 
00015 
00016 /**
00017  * @brief Pack a vision_speed_estimate message
00018  * @param system_id ID of this system
00019  * @param component_id ID of this component (e.g. 200 for IMU)
00020  * @param msg The MAVLink message to compress the data into
00021  *
00022  * @param usec Timestamp (milliseconds)
00023  * @param x Global X speed
00024  * @param y Global Y speed
00025  * @param z Global Z speed
00026  * @return length of the message in bytes (excluding serial stream start sign)
00027  */
00028 static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t usec, float x, float y, float z)
00029 {
00030     uint16_t i = 0;
00031     msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
00032 
00033     i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds)
00034     i += put_float_by_index(x, i, msg->payload); // Global X speed
00035     i += put_float_by_index(y, i, msg->payload); // Global Y speed
00036     i += put_float_by_index(z, i, msg->payload); // Global Z speed
00037 
00038     return mavlink_finalize_message(msg, system_id, component_id, i);
00039 }
00040 
00041 /**
00042  * @brief Pack a vision_speed_estimate message
00043  * @param system_id ID of this system
00044  * @param component_id ID of this component (e.g. 200 for IMU)
00045  * @param chan The MAVLink channel this message was sent over
00046  * @param msg The MAVLink message to compress the data into
00047  * @param usec Timestamp (milliseconds)
00048  * @param x Global X speed
00049  * @param y Global Y speed
00050  * @param z Global Z speed
00051  * @return length of the message in bytes (excluding serial stream start sign)
00052  */
00053 static inline uint16_t mavlink_msg_vision_speed_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)
00054 {
00055     uint16_t i = 0;
00056     msg->msgid = MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE;
00057 
00058     i += put_uint64_t_by_index(usec, i, msg->payload); // Timestamp (milliseconds)
00059     i += put_float_by_index(x, i, msg->payload); // Global X speed
00060     i += put_float_by_index(y, i, msg->payload); // Global Y speed
00061     i += put_float_by_index(z, i, msg->payload); // Global Z speed
00062 
00063     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00064 }
00065 
00066 /**
00067  * @brief Encode a vision_speed_estimate struct into a message
00068  *
00069  * @param system_id ID of this system
00070  * @param component_id ID of this component (e.g. 200 for IMU)
00071  * @param msg The MAVLink message to compress the data into
00072  * @param vision_speed_estimate C-struct to read the message contents from
00073  */
00074 static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
00075 {
00076     return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
00077 }
00078 
00079 /**
00080  * @brief Send a vision_speed_estimate message
00081  * @param chan MAVLink channel to send the message
00082  *
00083  * @param usec Timestamp (milliseconds)
00084  * @param x Global X speed
00085  * @param y Global Y speed
00086  * @param z Global Z speed
00087  */
00088 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00089 
00090 static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
00091 {
00092     mavlink_message_t msg;
00093     mavlink_msg_vision_speed_estimate_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, usec, x, y, z);
00094     mavlink_send_uart(chan, &msg);
00095 }
00096 
00097 #endif
00098 // MESSAGE VISION_SPEED_ESTIMATE UNPACKING
00099 
00100 /**
00101  * @brief Get field usec from vision_speed_estimate message
00102  *
00103  * @return Timestamp (milliseconds)
00104  */
00105 static inline uint64_t mavlink_msg_vision_speed_estimate_get_usec(const mavlink_message_t* msg)
00106 {
00107     generic_64bit r;
00108     r.b[7] = (msg->payload)[0];
00109     r.b[6] = (msg->payload)[1];
00110     r.b[5] = (msg->payload)[2];
00111     r.b[4] = (msg->payload)[3];
00112     r.b[3] = (msg->payload)[4];
00113     r.b[2] = (msg->payload)[5];
00114     r.b[1] = (msg->payload)[6];
00115     r.b[0] = (msg->payload)[7];
00116     return (uint64_t)r.ll;
00117 }
00118 
00119 /**
00120  * @brief Get field x from vision_speed_estimate message
00121  *
00122  * @return Global X speed
00123  */
00124 static inline float mavlink_msg_vision_speed_estimate_get_x(const mavlink_message_t* msg)
00125 {
00126     generic_32bit r;
00127     r.b[3] = (msg->payload+sizeof(uint64_t))[0];
00128     r.b[2] = (msg->payload+sizeof(uint64_t))[1];
00129     r.b[1] = (msg->payload+sizeof(uint64_t))[2];
00130     r.b[0] = (msg->payload+sizeof(uint64_t))[3];
00131     return (float)r.f;
00132 }
00133 
00134 /**
00135  * @brief Get field y from vision_speed_estimate message
00136  *
00137  * @return Global Y speed
00138  */
00139 static inline float mavlink_msg_vision_speed_estimate_get_y(const mavlink_message_t* msg)
00140 {
00141     generic_32bit r;
00142     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float))[0];
00143     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float))[1];
00144     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float))[2];
00145     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float))[3];
00146     return (float)r.f;
00147 }
00148 
00149 /**
00150  * @brief Get field z from vision_speed_estimate message
00151  *
00152  * @return Global Z speed
00153  */
00154 static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_message_t* msg)
00155 {
00156     generic_32bit r;
00157     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
00158     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
00159     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
00160     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
00161     return (float)r.f;
00162 }
00163 
00164 /**
00165  * @brief Decode a vision_speed_estimate message into a struct
00166  *
00167  * @param msg The message to decode
00168  * @param vision_speed_estimate C-struct to decode the message contents into
00169  */
00170 static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_message_t* msg, mavlink_vision_speed_estimate_t* vision_speed_estimate)
00171 {
00172     vision_speed_estimate->usec = mavlink_msg_vision_speed_estimate_get_usec(msg);
00173     vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
00174     vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
00175     vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
00176 }