Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
MAVlink/include/pixhawk/mavlink_msg_image_triggered.h@0:a6a169de725f, 2013-05-27 (annotated)
- Committer:
- shimniok
- Date:
- Mon May 27 13:26:03 2013 +0000
- Revision:
- 0:a6a169de725f
Working version with priorities set and update time display
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
shimniok | 0:a6a169de725f | 1 | // MESSAGE IMAGE_TRIGGERED PACKING |
shimniok | 0:a6a169de725f | 2 | |
shimniok | 0:a6a169de725f | 3 | #define MAVLINK_MSG_ID_IMAGE_TRIGGERED 101 |
shimniok | 0:a6a169de725f | 4 | |
shimniok | 0:a6a169de725f | 5 | typedef struct __mavlink_image_triggered_t |
shimniok | 0:a6a169de725f | 6 | { |
shimniok | 0:a6a169de725f | 7 | uint64_t timestamp; ///< Timestamp |
shimniok | 0:a6a169de725f | 8 | uint32_t seq; ///< IMU seq |
shimniok | 0:a6a169de725f | 9 | float roll; ///< Roll angle in rad |
shimniok | 0:a6a169de725f | 10 | float pitch; ///< Pitch angle in rad |
shimniok | 0:a6a169de725f | 11 | float yaw; ///< Yaw angle in rad |
shimniok | 0:a6a169de725f | 12 | float local_z; ///< Local frame Z coordinate (height over ground) |
shimniok | 0:a6a169de725f | 13 | float lat; ///< GPS X coordinate |
shimniok | 0:a6a169de725f | 14 | float lon; ///< GPS Y coordinate |
shimniok | 0:a6a169de725f | 15 | float alt; ///< Global frame altitude |
shimniok | 0:a6a169de725f | 16 | float ground_x; ///< Ground truth X |
shimniok | 0:a6a169de725f | 17 | float ground_y; ///< Ground truth Y |
shimniok | 0:a6a169de725f | 18 | float ground_z; ///< Ground truth Z |
shimniok | 0:a6a169de725f | 19 | |
shimniok | 0:a6a169de725f | 20 | } mavlink_image_triggered_t; |
shimniok | 0:a6a169de725f | 21 | |
shimniok | 0:a6a169de725f | 22 | |
shimniok | 0:a6a169de725f | 23 | |
shimniok | 0:a6a169de725f | 24 | /** |
shimniok | 0:a6a169de725f | 25 | * @brief Pack a image_triggered message |
shimniok | 0:a6a169de725f | 26 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 27 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 28 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 29 | * |
shimniok | 0:a6a169de725f | 30 | * @param timestamp Timestamp |
shimniok | 0:a6a169de725f | 31 | * @param seq IMU seq |
shimniok | 0:a6a169de725f | 32 | * @param roll Roll angle in rad |
shimniok | 0:a6a169de725f | 33 | * @param pitch Pitch angle in rad |
shimniok | 0:a6a169de725f | 34 | * @param yaw Yaw angle in rad |
shimniok | 0:a6a169de725f | 35 | * @param local_z Local frame Z coordinate (height over ground) |
shimniok | 0:a6a169de725f | 36 | * @param lat GPS X coordinate |
shimniok | 0:a6a169de725f | 37 | * @param lon GPS Y coordinate |
shimniok | 0:a6a169de725f | 38 | * @param alt Global frame altitude |
shimniok | 0:a6a169de725f | 39 | * @param ground_x Ground truth X |
shimniok | 0:a6a169de725f | 40 | * @param ground_y Ground truth Y |
shimniok | 0:a6a169de725f | 41 | * @param ground_z Ground truth Z |
shimniok | 0:a6a169de725f | 42 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 43 | */ |
shimniok | 0:a6a169de725f | 44 | 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) |
shimniok | 0:a6a169de725f | 45 | { |
shimniok | 0:a6a169de725f | 46 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 47 | msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; |
shimniok | 0:a6a169de725f | 48 | |
shimniok | 0:a6a169de725f | 49 | i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp |
shimniok | 0:a6a169de725f | 50 | i += put_uint32_t_by_index(seq, i, msg->payload); // IMU seq |
shimniok | 0:a6a169de725f | 51 | i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad |
shimniok | 0:a6a169de725f | 52 | i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad |
shimniok | 0:a6a169de725f | 53 | i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad |
shimniok | 0:a6a169de725f | 54 | i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground) |
shimniok | 0:a6a169de725f | 55 | i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate |
shimniok | 0:a6a169de725f | 56 | i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate |
shimniok | 0:a6a169de725f | 57 | i += put_float_by_index(alt, i, msg->payload); // Global frame altitude |
shimniok | 0:a6a169de725f | 58 | i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X |
shimniok | 0:a6a169de725f | 59 | i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y |
shimniok | 0:a6a169de725f | 60 | i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z |
shimniok | 0:a6a169de725f | 61 | |
shimniok | 0:a6a169de725f | 62 | return mavlink_finalize_message(msg, system_id, component_id, i); |
shimniok | 0:a6a169de725f | 63 | } |
shimniok | 0:a6a169de725f | 64 | |
shimniok | 0:a6a169de725f | 65 | /** |
shimniok | 0:a6a169de725f | 66 | * @brief Pack a image_triggered message |
shimniok | 0:a6a169de725f | 67 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 68 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 69 | * @param chan The MAVLink channel this message was sent over |
shimniok | 0:a6a169de725f | 70 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 71 | * @param timestamp Timestamp |
shimniok | 0:a6a169de725f | 72 | * @param seq IMU seq |
shimniok | 0:a6a169de725f | 73 | * @param roll Roll angle in rad |
shimniok | 0:a6a169de725f | 74 | * @param pitch Pitch angle in rad |
shimniok | 0:a6a169de725f | 75 | * @param yaw Yaw angle in rad |
shimniok | 0:a6a169de725f | 76 | * @param local_z Local frame Z coordinate (height over ground) |
shimniok | 0:a6a169de725f | 77 | * @param lat GPS X coordinate |
shimniok | 0:a6a169de725f | 78 | * @param lon GPS Y coordinate |
shimniok | 0:a6a169de725f | 79 | * @param alt Global frame altitude |
shimniok | 0:a6a169de725f | 80 | * @param ground_x Ground truth X |
shimniok | 0:a6a169de725f | 81 | * @param ground_y Ground truth Y |
shimniok | 0:a6a169de725f | 82 | * @param ground_z Ground truth Z |
shimniok | 0:a6a169de725f | 83 | * @return length of the message in bytes (excluding serial stream start sign) |
shimniok | 0:a6a169de725f | 84 | */ |
shimniok | 0:a6a169de725f | 85 | 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) |
shimniok | 0:a6a169de725f | 86 | { |
shimniok | 0:a6a169de725f | 87 | uint16_t i = 0; |
shimniok | 0:a6a169de725f | 88 | msg->msgid = MAVLINK_MSG_ID_IMAGE_TRIGGERED; |
shimniok | 0:a6a169de725f | 89 | |
shimniok | 0:a6a169de725f | 90 | i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp |
shimniok | 0:a6a169de725f | 91 | i += put_uint32_t_by_index(seq, i, msg->payload); // IMU seq |
shimniok | 0:a6a169de725f | 92 | i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad |
shimniok | 0:a6a169de725f | 93 | i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad |
shimniok | 0:a6a169de725f | 94 | i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad |
shimniok | 0:a6a169de725f | 95 | i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground) |
shimniok | 0:a6a169de725f | 96 | i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate |
shimniok | 0:a6a169de725f | 97 | i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate |
shimniok | 0:a6a169de725f | 98 | i += put_float_by_index(alt, i, msg->payload); // Global frame altitude |
shimniok | 0:a6a169de725f | 99 | i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X |
shimniok | 0:a6a169de725f | 100 | i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y |
shimniok | 0:a6a169de725f | 101 | i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z |
shimniok | 0:a6a169de725f | 102 | |
shimniok | 0:a6a169de725f | 103 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); |
shimniok | 0:a6a169de725f | 104 | } |
shimniok | 0:a6a169de725f | 105 | |
shimniok | 0:a6a169de725f | 106 | /** |
shimniok | 0:a6a169de725f | 107 | * @brief Encode a image_triggered struct into a message |
shimniok | 0:a6a169de725f | 108 | * |
shimniok | 0:a6a169de725f | 109 | * @param system_id ID of this system |
shimniok | 0:a6a169de725f | 110 | * @param component_id ID of this component (e.g. 200 for IMU) |
shimniok | 0:a6a169de725f | 111 | * @param msg The MAVLink message to compress the data into |
shimniok | 0:a6a169de725f | 112 | * @param image_triggered C-struct to read the message contents from |
shimniok | 0:a6a169de725f | 113 | */ |
shimniok | 0:a6a169de725f | 114 | 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) |
shimniok | 0:a6a169de725f | 115 | { |
shimniok | 0:a6a169de725f | 116 | 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); |
shimniok | 0:a6a169de725f | 117 | } |
shimniok | 0:a6a169de725f | 118 | |
shimniok | 0:a6a169de725f | 119 | /** |
shimniok | 0:a6a169de725f | 120 | * @brief Send a image_triggered message |
shimniok | 0:a6a169de725f | 121 | * @param chan MAVLink channel to send the message |
shimniok | 0:a6a169de725f | 122 | * |
shimniok | 0:a6a169de725f | 123 | * @param timestamp Timestamp |
shimniok | 0:a6a169de725f | 124 | * @param seq IMU seq |
shimniok | 0:a6a169de725f | 125 | * @param roll Roll angle in rad |
shimniok | 0:a6a169de725f | 126 | * @param pitch Pitch angle in rad |
shimniok | 0:a6a169de725f | 127 | * @param yaw Yaw angle in rad |
shimniok | 0:a6a169de725f | 128 | * @param local_z Local frame Z coordinate (height over ground) |
shimniok | 0:a6a169de725f | 129 | * @param lat GPS X coordinate |
shimniok | 0:a6a169de725f | 130 | * @param lon GPS Y coordinate |
shimniok | 0:a6a169de725f | 131 | * @param alt Global frame altitude |
shimniok | 0:a6a169de725f | 132 | * @param ground_x Ground truth X |
shimniok | 0:a6a169de725f | 133 | * @param ground_y Ground truth Y |
shimniok | 0:a6a169de725f | 134 | * @param ground_z Ground truth Z |
shimniok | 0:a6a169de725f | 135 | */ |
shimniok | 0:a6a169de725f | 136 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
shimniok | 0:a6a169de725f | 137 | |
shimniok | 0:a6a169de725f | 138 | 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) |
shimniok | 0:a6a169de725f | 139 | { |
shimniok | 0:a6a169de725f | 140 | mavlink_message_t msg; |
shimniok | 0:a6a169de725f | 141 | 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); |
shimniok | 0:a6a169de725f | 142 | mavlink_send_uart(chan, &msg); |
shimniok | 0:a6a169de725f | 143 | } |
shimniok | 0:a6a169de725f | 144 | |
shimniok | 0:a6a169de725f | 145 | #endif |
shimniok | 0:a6a169de725f | 146 | // MESSAGE IMAGE_TRIGGERED UNPACKING |
shimniok | 0:a6a169de725f | 147 | |
shimniok | 0:a6a169de725f | 148 | /** |
shimniok | 0:a6a169de725f | 149 | * @brief Get field timestamp from image_triggered message |
shimniok | 0:a6a169de725f | 150 | * |
shimniok | 0:a6a169de725f | 151 | * @return Timestamp |
shimniok | 0:a6a169de725f | 152 | */ |
shimniok | 0:a6a169de725f | 153 | static inline uint64_t mavlink_msg_image_triggered_get_timestamp(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 154 | { |
shimniok | 0:a6a169de725f | 155 | generic_64bit r; |
shimniok | 0:a6a169de725f | 156 | r.b[7] = (msg->payload)[0]; |
shimniok | 0:a6a169de725f | 157 | r.b[6] = (msg->payload)[1]; |
shimniok | 0:a6a169de725f | 158 | r.b[5] = (msg->payload)[2]; |
shimniok | 0:a6a169de725f | 159 | r.b[4] = (msg->payload)[3]; |
shimniok | 0:a6a169de725f | 160 | r.b[3] = (msg->payload)[4]; |
shimniok | 0:a6a169de725f | 161 | r.b[2] = (msg->payload)[5]; |
shimniok | 0:a6a169de725f | 162 | r.b[1] = (msg->payload)[6]; |
shimniok | 0:a6a169de725f | 163 | r.b[0] = (msg->payload)[7]; |
shimniok | 0:a6a169de725f | 164 | return (uint64_t)r.ll; |
shimniok | 0:a6a169de725f | 165 | } |
shimniok | 0:a6a169de725f | 166 | |
shimniok | 0:a6a169de725f | 167 | /** |
shimniok | 0:a6a169de725f | 168 | * @brief Get field seq from image_triggered message |
shimniok | 0:a6a169de725f | 169 | * |
shimniok | 0:a6a169de725f | 170 | * @return IMU seq |
shimniok | 0:a6a169de725f | 171 | */ |
shimniok | 0:a6a169de725f | 172 | static inline uint32_t mavlink_msg_image_triggered_get_seq(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 173 | { |
shimniok | 0:a6a169de725f | 174 | generic_32bit r; |
shimniok | 0:a6a169de725f | 175 | r.b[3] = (msg->payload+sizeof(uint64_t))[0]; |
shimniok | 0:a6a169de725f | 176 | r.b[2] = (msg->payload+sizeof(uint64_t))[1]; |
shimniok | 0:a6a169de725f | 177 | r.b[1] = (msg->payload+sizeof(uint64_t))[2]; |
shimniok | 0:a6a169de725f | 178 | r.b[0] = (msg->payload+sizeof(uint64_t))[3]; |
shimniok | 0:a6a169de725f | 179 | return (uint32_t)r.i; |
shimniok | 0:a6a169de725f | 180 | } |
shimniok | 0:a6a169de725f | 181 | |
shimniok | 0:a6a169de725f | 182 | /** |
shimniok | 0:a6a169de725f | 183 | * @brief Get field roll from image_triggered message |
shimniok | 0:a6a169de725f | 184 | * |
shimniok | 0:a6a169de725f | 185 | * @return Roll angle in rad |
shimniok | 0:a6a169de725f | 186 | */ |
shimniok | 0:a6a169de725f | 187 | static inline float mavlink_msg_image_triggered_get_roll(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 188 | { |
shimniok | 0:a6a169de725f | 189 | generic_32bit r; |
shimniok | 0:a6a169de725f | 190 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[0]; |
shimniok | 0:a6a169de725f | 191 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[1]; |
shimniok | 0:a6a169de725f | 192 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[2]; |
shimniok | 0:a6a169de725f | 193 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t))[3]; |
shimniok | 0:a6a169de725f | 194 | return (float)r.f; |
shimniok | 0:a6a169de725f | 195 | } |
shimniok | 0:a6a169de725f | 196 | |
shimniok | 0:a6a169de725f | 197 | /** |
shimniok | 0:a6a169de725f | 198 | * @brief Get field pitch from image_triggered message |
shimniok | 0:a6a169de725f | 199 | * |
shimniok | 0:a6a169de725f | 200 | * @return Pitch angle in rad |
shimniok | 0:a6a169de725f | 201 | */ |
shimniok | 0:a6a169de725f | 202 | static inline float mavlink_msg_image_triggered_get_pitch(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 203 | { |
shimniok | 0:a6a169de725f | 204 | generic_32bit r; |
shimniok | 0:a6a169de725f | 205 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 206 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 207 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 208 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 209 | return (float)r.f; |
shimniok | 0:a6a169de725f | 210 | } |
shimniok | 0:a6a169de725f | 211 | |
shimniok | 0:a6a169de725f | 212 | /** |
shimniok | 0:a6a169de725f | 213 | * @brief Get field yaw from image_triggered message |
shimniok | 0:a6a169de725f | 214 | * |
shimniok | 0:a6a169de725f | 215 | * @return Yaw angle in rad |
shimniok | 0:a6a169de725f | 216 | */ |
shimniok | 0:a6a169de725f | 217 | static inline float mavlink_msg_image_triggered_get_yaw(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 218 | { |
shimniok | 0:a6a169de725f | 219 | generic_32bit r; |
shimniok | 0:a6a169de725f | 220 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 221 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 222 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 223 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 224 | return (float)r.f; |
shimniok | 0:a6a169de725f | 225 | } |
shimniok | 0:a6a169de725f | 226 | |
shimniok | 0:a6a169de725f | 227 | /** |
shimniok | 0:a6a169de725f | 228 | * @brief Get field local_z from image_triggered message |
shimniok | 0:a6a169de725f | 229 | * |
shimniok | 0:a6a169de725f | 230 | * @return Local frame Z coordinate (height over ground) |
shimniok | 0:a6a169de725f | 231 | */ |
shimniok | 0:a6a169de725f | 232 | static inline float mavlink_msg_image_triggered_get_local_z(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 233 | { |
shimniok | 0:a6a169de725f | 234 | generic_32bit r; |
shimniok | 0:a6a169de725f | 235 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 236 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 237 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 238 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 239 | return (float)r.f; |
shimniok | 0:a6a169de725f | 240 | } |
shimniok | 0:a6a169de725f | 241 | |
shimniok | 0:a6a169de725f | 242 | /** |
shimniok | 0:a6a169de725f | 243 | * @brief Get field lat from image_triggered message |
shimniok | 0:a6a169de725f | 244 | * |
shimniok | 0:a6a169de725f | 245 | * @return GPS X coordinate |
shimniok | 0:a6a169de725f | 246 | */ |
shimniok | 0:a6a169de725f | 247 | static inline float mavlink_msg_image_triggered_get_lat(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 248 | { |
shimniok | 0:a6a169de725f | 249 | generic_32bit r; |
shimniok | 0:a6a169de725f | 250 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 251 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 252 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 253 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 254 | return (float)r.f; |
shimniok | 0:a6a169de725f | 255 | } |
shimniok | 0:a6a169de725f | 256 | |
shimniok | 0:a6a169de725f | 257 | /** |
shimniok | 0:a6a169de725f | 258 | * @brief Get field lon from image_triggered message |
shimniok | 0:a6a169de725f | 259 | * |
shimniok | 0:a6a169de725f | 260 | * @return GPS Y coordinate |
shimniok | 0:a6a169de725f | 261 | */ |
shimniok | 0:a6a169de725f | 262 | static inline float mavlink_msg_image_triggered_get_lon(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 263 | { |
shimniok | 0:a6a169de725f | 264 | generic_32bit r; |
shimniok | 0:a6a169de725f | 265 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 266 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 267 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 268 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 269 | return (float)r.f; |
shimniok | 0:a6a169de725f | 270 | } |
shimniok | 0:a6a169de725f | 271 | |
shimniok | 0:a6a169de725f | 272 | /** |
shimniok | 0:a6a169de725f | 273 | * @brief Get field alt from image_triggered message |
shimniok | 0:a6a169de725f | 274 | * |
shimniok | 0:a6a169de725f | 275 | * @return Global frame altitude |
shimniok | 0:a6a169de725f | 276 | */ |
shimniok | 0:a6a169de725f | 277 | static inline float mavlink_msg_image_triggered_get_alt(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 278 | { |
shimniok | 0:a6a169de725f | 279 | generic_32bit r; |
shimniok | 0:a6a169de725f | 280 | r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; |
shimniok | 0:a6a169de725f | 281 | r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; |
shimniok | 0:a6a169de725f | 282 | r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; |
shimniok | 0:a6a169de725f | 283 | r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; |
shimniok | 0:a6a169de725f | 284 | return (float)r.f; |
shimniok | 0:a6a169de725f | 285 | } |
shimniok | 0:a6a169de725f | 286 | |
shimniok | 0:a6a169de725f | 287 | /** |
shimniok | 0:a6a169de725f | 288 | * @brief Get field ground_x from image_triggered message |
shimniok | 0:a6a169de725f | 289 | * |
shimniok | 0:a6a169de725f | 290 | * @return Ground truth X |
shimniok | 0:a6a169de725f | 291 | */ |
shimniok | 0:a6a169de725f | 292 | static inline float mavlink_msg_image_triggered_get_ground_x(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 293 | { |
shimniok | 0:a6a169de725f | 294 | generic_32bit r; |
shimniok | 0:a6a169de725f | 295 | 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]; |
shimniok | 0:a6a169de725f | 296 | 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]; |
shimniok | 0:a6a169de725f | 297 | 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]; |
shimniok | 0:a6a169de725f | 298 | 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]; |
shimniok | 0:a6a169de725f | 299 | return (float)r.f; |
shimniok | 0:a6a169de725f | 300 | } |
shimniok | 0:a6a169de725f | 301 | |
shimniok | 0:a6a169de725f | 302 | /** |
shimniok | 0:a6a169de725f | 303 | * @brief Get field ground_y from image_triggered message |
shimniok | 0:a6a169de725f | 304 | * |
shimniok | 0:a6a169de725f | 305 | * @return Ground truth Y |
shimniok | 0:a6a169de725f | 306 | */ |
shimniok | 0:a6a169de725f | 307 | static inline float mavlink_msg_image_triggered_get_ground_y(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 308 | { |
shimniok | 0:a6a169de725f | 309 | generic_32bit r; |
shimniok | 0:a6a169de725f | 310 | 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]; |
shimniok | 0:a6a169de725f | 311 | 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]; |
shimniok | 0:a6a169de725f | 312 | 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]; |
shimniok | 0:a6a169de725f | 313 | 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]; |
shimniok | 0:a6a169de725f | 314 | return (float)r.f; |
shimniok | 0:a6a169de725f | 315 | } |
shimniok | 0:a6a169de725f | 316 | |
shimniok | 0:a6a169de725f | 317 | /** |
shimniok | 0:a6a169de725f | 318 | * @brief Get field ground_z from image_triggered message |
shimniok | 0:a6a169de725f | 319 | * |
shimniok | 0:a6a169de725f | 320 | * @return Ground truth Z |
shimniok | 0:a6a169de725f | 321 | */ |
shimniok | 0:a6a169de725f | 322 | static inline float mavlink_msg_image_triggered_get_ground_z(const mavlink_message_t* msg) |
shimniok | 0:a6a169de725f | 323 | { |
shimniok | 0:a6a169de725f | 324 | generic_32bit r; |
shimniok | 0:a6a169de725f | 325 | 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]; |
shimniok | 0:a6a169de725f | 326 | 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]; |
shimniok | 0:a6a169de725f | 327 | 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]; |
shimniok | 0:a6a169de725f | 328 | 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]; |
shimniok | 0:a6a169de725f | 329 | return (float)r.f; |
shimniok | 0:a6a169de725f | 330 | } |
shimniok | 0:a6a169de725f | 331 | |
shimniok | 0:a6a169de725f | 332 | /** |
shimniok | 0:a6a169de725f | 333 | * @brief Decode a image_triggered message into a struct |
shimniok | 0:a6a169de725f | 334 | * |
shimniok | 0:a6a169de725f | 335 | * @param msg The message to decode |
shimniok | 0:a6a169de725f | 336 | * @param image_triggered C-struct to decode the message contents into |
shimniok | 0:a6a169de725f | 337 | */ |
shimniok | 0:a6a169de725f | 338 | static inline void mavlink_msg_image_triggered_decode(const mavlink_message_t* msg, mavlink_image_triggered_t* image_triggered) |
shimniok | 0:a6a169de725f | 339 | { |
shimniok | 0:a6a169de725f | 340 | image_triggered->timestamp = mavlink_msg_image_triggered_get_timestamp(msg); |
shimniok | 0:a6a169de725f | 341 | image_triggered->seq = mavlink_msg_image_triggered_get_seq(msg); |
shimniok | 0:a6a169de725f | 342 | image_triggered->roll = mavlink_msg_image_triggered_get_roll(msg); |
shimniok | 0:a6a169de725f | 343 | image_triggered->pitch = mavlink_msg_image_triggered_get_pitch(msg); |
shimniok | 0:a6a169de725f | 344 | image_triggered->yaw = mavlink_msg_image_triggered_get_yaw(msg); |
shimniok | 0:a6a169de725f | 345 | image_triggered->local_z = mavlink_msg_image_triggered_get_local_z(msg); |
shimniok | 0:a6a169de725f | 346 | image_triggered->lat = mavlink_msg_image_triggered_get_lat(msg); |
shimniok | 0:a6a169de725f | 347 | image_triggered->lon = mavlink_msg_image_triggered_get_lon(msg); |
shimniok | 0:a6a169de725f | 348 | image_triggered->alt = mavlink_msg_image_triggered_get_alt(msg); |
shimniok | 0:a6a169de725f | 349 | image_triggered->ground_x = mavlink_msg_image_triggered_get_ground_x(msg); |
shimniok | 0:a6a169de725f | 350 | image_triggered->ground_y = mavlink_msg_image_triggered_get_ground_y(msg); |
shimniok | 0:a6a169de725f | 351 | image_triggered->ground_z = mavlink_msg_image_triggered_get_ground_z(msg); |
shimniok | 0:a6a169de725f | 352 | } |