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
Diff: MAVlink/include/pixhawk/mavlink_msg_image_available.h
- Revision:
- 0:a6a169de725f
diff -r 000000000000 -r a6a169de725f MAVlink/include/pixhawk/mavlink_msg_image_available.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/pixhawk/mavlink_msg_image_available.h Mon May 27 13:26:03 2013 +0000 @@ -0,0 +1,586 @@ +// MESSAGE IMAGE_AVAILABLE PACKING + +#define MAVLINK_MSG_ID_IMAGE_AVAILABLE 103 + +typedef struct __mavlink_image_available_t +{ + uint64_t cam_id; ///< Camera id + uint8_t cam_no; ///< Camera # (starts with 0) + uint64_t timestamp; ///< Timestamp + uint64_t valid_until; ///< Until which timestamp this buffer will stay valid + uint32_t img_seq; ///< The image sequence number + uint32_t img_buf_index; ///< Position of the image in the buffer, starts with 0 + uint16_t width; ///< Image width + uint16_t height; ///< Image height + uint16_t depth; ///< Image depth + uint8_t channels; ///< Image channels + uint32_t key; ///< Shared memory area key + uint32_t exposure; ///< Exposure time, in microseconds + float gain; ///< Camera gain + float roll; ///< Roll angle in rad + float pitch; ///< Pitch angle in rad + float yaw; ///< Yaw angle in rad + float local_z; ///< Local frame Z coordinate (height over ground) + float lat; ///< GPS X coordinate + float lon; ///< GPS Y coordinate + float alt; ///< Global frame altitude + float ground_x; ///< Ground truth X + float ground_y; ///< Ground truth Y + float ground_z; ///< Ground truth Z + +} mavlink_image_available_t; + + + +/** + * @brief Pack a image_available message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param cam_id Camera id + * @param cam_no Camera # (starts with 0) + * @param timestamp Timestamp + * @param valid_until Until which timestamp this buffer will stay valid + * @param img_seq The image sequence number + * @param img_buf_index Position of the image in the buffer, starts with 0 + * @param width Image width + * @param height Image height + * @param depth Image depth + * @param channels Image channels + * @param key Shared memory area key + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_available_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; + + i += put_uint64_t_by_index(cam_id, i, msg->payload); // Camera id + i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera # (starts with 0) + i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp + i += put_uint64_t_by_index(valid_until, i, msg->payload); // Until which timestamp this buffer will stay valid + i += put_uint32_t_by_index(img_seq, i, msg->payload); // The image sequence number + i += put_uint32_t_by_index(img_buf_index, i, msg->payload); // Position of the image in the buffer, starts with 0 + i += put_uint16_t_by_index(width, i, msg->payload); // Image width + i += put_uint16_t_by_index(height, i, msg->payload); // Image height + i += put_uint16_t_by_index(depth, i, msg->payload); // Image depth + i += put_uint8_t_by_index(channels, i, msg->payload); // Image channels + i += put_uint32_t_by_index(key, i, msg->payload); // Shared memory area key + i += put_uint32_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds + i += put_float_by_index(gain, i, msg->payload); // Camera gain + i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad + i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad + i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad + i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground) + i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate + i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate + i += put_float_by_index(alt, i, msg->payload); // Global frame altitude + i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X + i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y + i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a image_available message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param cam_id Camera id + * @param cam_no Camera # (starts with 0) + * @param timestamp Timestamp + * @param valid_until Until which timestamp this buffer will stay valid + * @param img_seq The image sequence number + * @param img_buf_index Position of the image in the buffer, starts with 0 + * @param width Image width + * @param height Image height + * @param depth Image depth + * @param channels Image channels + * @param key Shared memory area key + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_image_available_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_IMAGE_AVAILABLE; + + i += put_uint64_t_by_index(cam_id, i, msg->payload); // Camera id + i += put_uint8_t_by_index(cam_no, i, msg->payload); // Camera # (starts with 0) + i += put_uint64_t_by_index(timestamp, i, msg->payload); // Timestamp + i += put_uint64_t_by_index(valid_until, i, msg->payload); // Until which timestamp this buffer will stay valid + i += put_uint32_t_by_index(img_seq, i, msg->payload); // The image sequence number + i += put_uint32_t_by_index(img_buf_index, i, msg->payload); // Position of the image in the buffer, starts with 0 + i += put_uint16_t_by_index(width, i, msg->payload); // Image width + i += put_uint16_t_by_index(height, i, msg->payload); // Image height + i += put_uint16_t_by_index(depth, i, msg->payload); // Image depth + i += put_uint8_t_by_index(channels, i, msg->payload); // Image channels + i += put_uint32_t_by_index(key, i, msg->payload); // Shared memory area key + i += put_uint32_t_by_index(exposure, i, msg->payload); // Exposure time, in microseconds + i += put_float_by_index(gain, i, msg->payload); // Camera gain + i += put_float_by_index(roll, i, msg->payload); // Roll angle in rad + i += put_float_by_index(pitch, i, msg->payload); // Pitch angle in rad + i += put_float_by_index(yaw, i, msg->payload); // Yaw angle in rad + i += put_float_by_index(local_z, i, msg->payload); // Local frame Z coordinate (height over ground) + i += put_float_by_index(lat, i, msg->payload); // GPS X coordinate + i += put_float_by_index(lon, i, msg->payload); // GPS Y coordinate + i += put_float_by_index(alt, i, msg->payload); // Global frame altitude + i += put_float_by_index(ground_x, i, msg->payload); // Ground truth X + i += put_float_by_index(ground_y, i, msg->payload); // Ground truth Y + i += put_float_by_index(ground_z, i, msg->payload); // Ground truth Z + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a image_available struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param image_available C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_image_available_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_image_available_t* image_available) +{ + return mavlink_msg_image_available_pack(system_id, component_id, msg, image_available->cam_id, image_available->cam_no, image_available->timestamp, image_available->valid_until, image_available->img_seq, image_available->img_buf_index, image_available->width, image_available->height, image_available->depth, image_available->channels, image_available->key, image_available->exposure, image_available->gain, image_available->roll, image_available->pitch, image_available->yaw, image_available->local_z, image_available->lat, image_available->lon, image_available->alt, image_available->ground_x, image_available->ground_y, image_available->ground_z); +} + +/** + * @brief Send a image_available message + * @param chan MAVLink channel to send the message + * + * @param cam_id Camera id + * @param cam_no Camera # (starts with 0) + * @param timestamp Timestamp + * @param valid_until Until which timestamp this buffer will stay valid + * @param img_seq The image sequence number + * @param img_buf_index Position of the image in the buffer, starts with 0 + * @param width Image width + * @param height Image height + * @param depth Image depth + * @param channels Image channels + * @param key Shared memory area key + * @param exposure Exposure time, in microseconds + * @param gain Camera gain + * @param roll Roll angle in rad + * @param pitch Pitch angle in rad + * @param yaw Yaw angle in rad + * @param local_z Local frame Z coordinate (height over ground) + * @param lat GPS X coordinate + * @param lon GPS Y coordinate + * @param alt Global frame altitude + * @param ground_x Ground truth X + * @param ground_y Ground truth Y + * @param ground_z Ground truth Z + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_image_available_send(mavlink_channel_t chan, uint64_t cam_id, uint8_t cam_no, uint64_t timestamp, uint64_t valid_until, uint32_t img_seq, uint32_t img_buf_index, uint16_t width, uint16_t height, uint16_t depth, uint8_t channels, uint32_t key, uint32_t exposure, float gain, float roll, float pitch, float yaw, float local_z, float lat, float lon, float alt, float ground_x, float ground_y, float ground_z) +{ + mavlink_message_t msg; + mavlink_msg_image_available_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, cam_id, cam_no, timestamp, valid_until, img_seq, img_buf_index, width, height, depth, channels, key, exposure, gain, roll, pitch, yaw, local_z, lat, lon, alt, ground_x, ground_y, ground_z); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE IMAGE_AVAILABLE UNPACKING + +/** + * @brief Get field cam_id from image_available message + * + * @return Camera id + */ +static inline uint64_t mavlink_msg_image_available_get_cam_id(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload)[0]; + r.b[6] = (msg->payload)[1]; + r.b[5] = (msg->payload)[2]; + r.b[4] = (msg->payload)[3]; + r.b[3] = (msg->payload)[4]; + r.b[2] = (msg->payload)[5]; + r.b[1] = (msg->payload)[6]; + r.b[0] = (msg->payload)[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field cam_no from image_available message + * + * @return Camera # (starts with 0) + */ +static inline uint8_t mavlink_msg_image_available_get_cam_no(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint64_t))[0]; +} + +/** + * @brief Get field timestamp from image_available message + * + * @return Timestamp + */ +static inline uint64_t mavlink_msg_image_available_get_timestamp(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[0]; + r.b[6] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[1]; + r.b[5] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[2]; + r.b[4] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[3]; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[4]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[5]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[6]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t))[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field valid_until from image_available message + * + * @return Until which timestamp this buffer will stay valid + */ +static inline uint64_t mavlink_msg_image_available_get_valid_until(const mavlink_message_t* msg) +{ + generic_64bit r; + r.b[7] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[0]; + r.b[6] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[1]; + r.b[5] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[2]; + r.b[4] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[3]; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[4]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[5]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[6]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t))[7]; + return (uint64_t)r.ll; +} + +/** + * @brief Get field img_seq from image_available message + * + * @return The image sequence number + */ +static inline uint32_t mavlink_msg_image_available_get_img_seq(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t))[3]; + return (uint32_t)r.i; +} + +/** + * @brief Get field img_buf_index from image_available message + * + * @return Position of the image in the buffer, starts with 0 + */ +static inline uint32_t mavlink_msg_image_available_get_img_buf_index(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t))[3]; + return (uint32_t)r.i; +} + +/** + * @brief Get field width from image_available message + * + * @return Image width + */ +static inline uint16_t mavlink_msg_image_available_get_width(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field height from image_available message + * + * @return Image height + */ +static inline uint16_t mavlink_msg_image_available_get_height(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field depth from image_available message + * + * @return Image depth + */ +static inline uint16_t mavlink_msg_image_available_get_depth(const mavlink_message_t* msg) +{ + generic_16bit r; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t))[1]; + return (uint16_t)r.s; +} + +/** + * @brief Get field channels from image_available message + * + * @return Image channels + */ +static inline uint8_t mavlink_msg_image_available_get_channels(const mavlink_message_t* msg) +{ + return (uint8_t)(msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t))[0]; +} + +/** + * @brief Get field key from image_available message + * + * @return Shared memory area key + */ +static inline uint32_t mavlink_msg_image_available_get_key(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t))[3]; + return (uint32_t)r.i; +} + +/** + * @brief Get field exposure from image_available message + * + * @return Exposure time, in microseconds + */ +static inline uint32_t mavlink_msg_image_available_get_exposure(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t))[3]; + return (uint32_t)r.i; +} + +/** + * @brief Get field gain from image_available message + * + * @return Camera gain + */ +static inline float mavlink_msg_image_available_get_gain(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t))[3]; + return (float)r.f; +} + +/** + * @brief Get field roll from image_available message + * + * @return Roll angle in rad + */ +static inline float mavlink_msg_image_available_get_roll(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field pitch from image_available message + * + * @return Pitch angle in rad + */ +static inline float mavlink_msg_image_available_get_pitch(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field yaw from image_available message + * + * @return Yaw angle in rad + */ +static inline float mavlink_msg_image_available_get_yaw(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field local_z from image_available message + * + * @return Local frame Z coordinate (height over ground) + */ +static inline float mavlink_msg_image_available_get_local_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field lat from image_available message + * + * @return GPS X coordinate + */ +static inline float mavlink_msg_image_available_get_lat(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field lon from image_available message + * + * @return GPS Y coordinate + */ +static inline float mavlink_msg_image_available_get_lon(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field alt from image_available message + * + * @return Global frame altitude + */ +static inline float mavlink_msg_image_available_get_alt(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field ground_x from image_available message + * + * @return Ground truth X + */ +static inline float mavlink_msg_image_available_get_ground_x(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field ground_y from image_available message + * + * @return Ground truth Y + */ +static inline float mavlink_msg_image_available_get_ground_y(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field ground_z from image_available message + * + * @return Ground truth Z + */ +static inline float mavlink_msg_image_available_get_ground_z(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(uint64_t)+sizeof(uint8_t)+sizeof(uint64_t)+sizeof(uint64_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint16_t)+sizeof(uint8_t)+sizeof(uint32_t)+sizeof(uint32_t)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a image_available message into a struct + * + * @param msg The message to decode + * @param image_available C-struct to decode the message contents into + */ +static inline void mavlink_msg_image_available_decode(const mavlink_message_t* msg, mavlink_image_available_t* image_available) +{ + image_available->cam_id = mavlink_msg_image_available_get_cam_id(msg); + image_available->cam_no = mavlink_msg_image_available_get_cam_no(msg); + image_available->timestamp = mavlink_msg_image_available_get_timestamp(msg); + image_available->valid_until = mavlink_msg_image_available_get_valid_until(msg); + image_available->img_seq = mavlink_msg_image_available_get_img_seq(msg); + image_available->img_buf_index = mavlink_msg_image_available_get_img_buf_index(msg); + image_available->width = mavlink_msg_image_available_get_width(msg); + image_available->height = mavlink_msg_image_available_get_height(msg); + image_available->depth = mavlink_msg_image_available_get_depth(msg); + image_available->channels = mavlink_msg_image_available_get_channels(msg); + image_available->key = mavlink_msg_image_available_get_key(msg); + image_available->exposure = mavlink_msg_image_available_get_exposure(msg); + image_available->gain = mavlink_msg_image_available_get_gain(msg); + image_available->roll = mavlink_msg_image_available_get_roll(msg); + image_available->pitch = mavlink_msg_image_available_get_pitch(msg); + image_available->yaw = mavlink_msg_image_available_get_yaw(msg); + image_available->local_z = mavlink_msg_image_available_get_local_z(msg); + image_available->lat = mavlink_msg_image_available_get_lat(msg); + image_available->lon = mavlink_msg_image_available_get_lon(msg); + image_available->alt = mavlink_msg_image_available_get_alt(msg); + image_available->ground_x = mavlink_msg_image_available_get_ground_x(msg); + image_available->ground_y = mavlink_msg_image_available_get_ground_y(msg); + image_available->ground_z = mavlink_msg_image_available_get_ground_z(msg); +}