mavlink_msg_visual_odometry.h

00001 // MESSAGE VISUAL_ODOMETRY PACKING
00002 
00003 #define MAVLINK_MSG_ID_VISUAL_ODOMETRY 180
00004 
00005 typedef struct __mavlink_visual_odometry_t 
00006 {
00007     uint64_t frame1_time_us; ///< Time at which frame 1 was captured (in microseconds since unix epoch)
00008     uint64_t frame2_time_us; ///< Time at which frame 2 was captured (in microseconds since unix epoch)
00009     float x; ///< Relative X position
00010     float y; ///< Relative Y position
00011     float z; ///< Relative Z position
00012     float roll; ///< Relative roll angle in rad
00013     float pitch; ///< Relative pitch angle in rad
00014     float yaw; ///< Relative yaw angle in rad
00015 
00016 } mavlink_visual_odometry_t;
00017 
00018 
00019 
00020 /**
00021  * @brief Pack a visual_odometry message
00022  * @param system_id ID of this system
00023  * @param component_id ID of this component (e.g. 200 for IMU)
00024  * @param msg The MAVLink message to compress the data into
00025  *
00026  * @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch)
00027  * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch)
00028  * @param x Relative X position
00029  * @param y Relative Y position
00030  * @param z Relative Z position
00031  * @param roll Relative roll angle in rad
00032  * @param pitch Relative pitch angle in rad
00033  * @param yaw Relative yaw angle in rad
00034  * @return length of the message in bytes (excluding serial stream start sign)
00035  */
00036 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)
00037 {
00038     uint16_t i = 0;
00039     msg->msgid = MAVLINK_MSG_ID_VISUAL_ODOMETRY;
00040 
00041     i += put_uint64_t_by_index(frame1_time_us, i, msg->payload); // Time at which frame 1 was captured (in microseconds since unix epoch)
00042     i += put_uint64_t_by_index(frame2_time_us, i, msg->payload); // Time at which frame 2 was captured (in microseconds since unix epoch)
00043     i += put_float_by_index(x, i, msg->payload); // Relative X position
00044     i += put_float_by_index(y, i, msg->payload); // Relative Y position
00045     i += put_float_by_index(z, i, msg->payload); // Relative Z position
00046     i += put_float_by_index(roll, i, msg->payload); // Relative roll angle in rad
00047     i += put_float_by_index(pitch, i, msg->payload); // Relative pitch angle in rad
00048     i += put_float_by_index(yaw, i, msg->payload); // Relative yaw angle in rad
00049 
00050     return mavlink_finalize_message(msg, system_id, component_id, i);
00051 }
00052 
00053 /**
00054  * @brief Pack a visual_odometry message
00055  * @param system_id ID of this system
00056  * @param component_id ID of this component (e.g. 200 for IMU)
00057  * @param chan The MAVLink channel this message was sent over
00058  * @param msg The MAVLink message to compress the data into
00059  * @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch)
00060  * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch)
00061  * @param x Relative X position
00062  * @param y Relative Y position
00063  * @param z Relative Z position
00064  * @param roll Relative roll angle in rad
00065  * @param pitch Relative pitch angle in rad
00066  * @param yaw Relative yaw angle in rad
00067  * @return length of the message in bytes (excluding serial stream start sign)
00068  */
00069 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)
00070 {
00071     uint16_t i = 0;
00072     msg->msgid = MAVLINK_MSG_ID_VISUAL_ODOMETRY;
00073 
00074     i += put_uint64_t_by_index(frame1_time_us, i, msg->payload); // Time at which frame 1 was captured (in microseconds since unix epoch)
00075     i += put_uint64_t_by_index(frame2_time_us, i, msg->payload); // Time at which frame 2 was captured (in microseconds since unix epoch)
00076     i += put_float_by_index(x, i, msg->payload); // Relative X position
00077     i += put_float_by_index(y, i, msg->payload); // Relative Y position
00078     i += put_float_by_index(z, i, msg->payload); // Relative Z position
00079     i += put_float_by_index(roll, i, msg->payload); // Relative roll angle in rad
00080     i += put_float_by_index(pitch, i, msg->payload); // Relative pitch angle in rad
00081     i += put_float_by_index(yaw, i, msg->payload); // Relative yaw angle in rad
00082 
00083     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i);
00084 }
00085 
00086 /**
00087  * @brief Encode a visual_odometry struct into a message
00088  *
00089  * @param system_id ID of this system
00090  * @param component_id ID of this component (e.g. 200 for IMU)
00091  * @param msg The MAVLink message to compress the data into
00092  * @param visual_odometry C-struct to read the message contents from
00093  */
00094 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)
00095 {
00096     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);
00097 }
00098 
00099 /**
00100  * @brief Send a visual_odometry message
00101  * @param chan MAVLink channel to send the message
00102  *
00103  * @param frame1_time_us Time at which frame 1 was captured (in microseconds since unix epoch)
00104  * @param frame2_time_us Time at which frame 2 was captured (in microseconds since unix epoch)
00105  * @param x Relative X position
00106  * @param y Relative Y position
00107  * @param z Relative Z position
00108  * @param roll Relative roll angle in rad
00109  * @param pitch Relative pitch angle in rad
00110  * @param yaw Relative yaw angle in rad
00111  */
00112 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
00113 
00114 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)
00115 {
00116     mavlink_message_t msg;
00117     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);
00118     mavlink_send_uart(chan, &msg);
00119 }
00120 
00121 #endif
00122 // MESSAGE VISUAL_ODOMETRY UNPACKING
00123 
00124 /**
00125  * @brief Get field frame1_time_us from visual_odometry message
00126  *
00127  * @return Time at which frame 1 was captured (in microseconds since unix epoch)
00128  */
00129 static inline uint64_t mavlink_msg_visual_odometry_get_frame1_time_us(const mavlink_message_t* msg)
00130 {
00131     generic_64bit r;
00132     r.b[7] = (msg->payload)[0];
00133     r.b[6] = (msg->payload)[1];
00134     r.b[5] = (msg->payload)[2];
00135     r.b[4] = (msg->payload)[3];
00136     r.b[3] = (msg->payload)[4];
00137     r.b[2] = (msg->payload)[5];
00138     r.b[1] = (msg->payload)[6];
00139     r.b[0] = (msg->payload)[7];
00140     return (uint64_t)r.ll;
00141 }
00142 
00143 /**
00144  * @brief Get field frame2_time_us from visual_odometry message
00145  *
00146  * @return Time at which frame 2 was captured (in microseconds since unix epoch)
00147  */
00148 static inline uint64_t mavlink_msg_visual_odometry_get_frame2_time_us(const mavlink_message_t* msg)
00149 {
00150     generic_64bit r;
00151     r.b[7] = (msg->payload+sizeof(uint64_t))[0];
00152     r.b[6] = (msg->payload+sizeof(uint64_t))[1];
00153     r.b[5] = (msg->payload+sizeof(uint64_t))[2];
00154     r.b[4] = (msg->payload+sizeof(uint64_t))[3];
00155     r.b[3] = (msg->payload+sizeof(uint64_t))[4];
00156     r.b[2] = (msg->payload+sizeof(uint64_t))[5];
00157     r.b[1] = (msg->payload+sizeof(uint64_t))[6];
00158     r.b[0] = (msg->payload+sizeof(uint64_t))[7];
00159     return (uint64_t)r.ll;
00160 }
00161 
00162 /**
00163  * @brief Get field x from visual_odometry message
00164  *
00165  * @return Relative X position
00166  */
00167 static inline float mavlink_msg_visual_odometry_get_x(const mavlink_message_t* msg)
00168 {
00169     generic_32bit r;
00170     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[0];
00171     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[1];
00172     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[2];
00173     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t))[3];
00174     return (float)r.f;
00175 }
00176 
00177 /**
00178  * @brief Get field y from visual_odometry message
00179  *
00180  * @return Relative Y position
00181  */
00182 static inline float mavlink_msg_visual_odometry_get_y(const mavlink_message_t* msg)
00183 {
00184     generic_32bit r;
00185     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[0];
00186     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[1];
00187     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[2];
00188     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float))[3];
00189     return (float)r.f;
00190 }
00191 
00192 /**
00193  * @brief Get field z from visual_odometry message
00194  *
00195  * @return Relative Z position
00196  */
00197 static inline float mavlink_msg_visual_odometry_get_z(const mavlink_message_t* msg)
00198 {
00199     generic_32bit r;
00200     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[0];
00201     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[1];
00202     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[2];
00203     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float))[3];
00204     return (float)r.f;
00205 }
00206 
00207 /**
00208  * @brief Get field roll from visual_odometry message
00209  *
00210  * @return Relative roll angle in rad
00211  */
00212 static inline float mavlink_msg_visual_odometry_get_roll(const mavlink_message_t* msg)
00213 {
00214     generic_32bit r;
00215     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00216     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00217     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00218     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00219     return (float)r.f;
00220 }
00221 
00222 /**
00223  * @brief Get field pitch from visual_odometry message
00224  *
00225  * @return Relative pitch angle in rad
00226  */
00227 static inline float mavlink_msg_visual_odometry_get_pitch(const mavlink_message_t* msg)
00228 {
00229     generic_32bit r;
00230     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00231     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00232     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00233     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00234     return (float)r.f;
00235 }
00236 
00237 /**
00238  * @brief Get field yaw from visual_odometry message
00239  *
00240  * @return Relative yaw angle in rad
00241  */
00242 static inline float mavlink_msg_visual_odometry_get_yaw(const mavlink_message_t* msg)
00243 {
00244     generic_32bit r;
00245     r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0];
00246     r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1];
00247     r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2];
00248     r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3];
00249     return (float)r.f;
00250 }
00251 
00252 /**
00253  * @brief Decode a visual_odometry message into a struct
00254  *
00255  * @param msg The message to decode
00256  * @param visual_odometry C-struct to decode the message contents into
00257  */
00258 static inline void mavlink_msg_visual_odometry_decode(const mavlink_message_t* msg, mavlink_visual_odometry_t* visual_odometry)
00259 {
00260     visual_odometry->frame1_time_us = mavlink_msg_visual_odometry_get_frame1_time_us(msg);
00261     visual_odometry->frame2_time_us = mavlink_msg_visual_odometry_get_frame2_time_us(msg);
00262     visual_odometry->x = mavlink_msg_visual_odometry_get_x(msg);
00263     visual_odometry->y = mavlink_msg_visual_odometry_get_y(msg);
00264     visual_odometry->z = mavlink_msg_visual_odometry_get_z(msg);
00265     visual_odometry->roll = mavlink_msg_visual_odometry_get_roll(msg);
00266     visual_odometry->pitch = mavlink_msg_visual_odometry_get_pitch(msg);
00267     visual_odometry->yaw = mavlink_msg_visual_odometry_get_yaw(msg);
00268 }