306 lines
12 KiB
C
306 lines
12 KiB
C
|
// MESSAGE LANDING_TARGET PACKING
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_LANDING_TARGET 149
|
||
|
|
|
||
|
|
typedef struct __mavlink_landing_target_t
|
||
|
|
{
|
||
|
|
float angle_x; ///< X-axis angular offset (in radians) of the target from the center of the image
|
||
|
|
float angle_y; ///< Y-axis angular offset (in radians) of the target from the center of the image
|
||
|
|
float distance; ///< Distance to the target from the vehicle in meters
|
||
|
|
uint8_t target_num; ///< The ID of the target if multiple targets are present
|
||
|
|
uint8_t frame; ///< MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
|
||
|
|
} mavlink_landing_target_t;
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_LANDING_TARGET_LEN 14
|
||
|
|
#define MAVLINK_MSG_ID_149_LEN 14
|
||
|
|
|
||
|
|
#define MAVLINK_MSG_ID_LANDING_TARGET_CRC 255
|
||
|
|
#define MAVLINK_MSG_ID_149_CRC 255
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#define MAVLINK_MESSAGE_INFO_LANDING_TARGET { \
|
||
|
|
"LANDING_TARGET", \
|
||
|
|
5, \
|
||
|
|
{ { "angle_x", NULL, MAVLINK_TYPE_FLOAT, 0, 0, offsetof(mavlink_landing_target_t, angle_x) }, \
|
||
|
|
{ "angle_y", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_landing_target_t, angle_y) }, \
|
||
|
|
{ "distance", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_landing_target_t, distance) }, \
|
||
|
|
{ "target_num", NULL, MAVLINK_TYPE_UINT8_T, 0, 12, offsetof(mavlink_landing_target_t, target_num) }, \
|
||
|
|
{ "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 13, offsetof(mavlink_landing_target_t, frame) }, \
|
||
|
|
} \
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Pack a landing_target 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 target_num The ID of the target if multiple targets are present
|
||
|
|
* @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
|
||
|
|
* @param angle_x X-axis angular offset (in radians) of the target from the center of the image
|
||
|
|
* @param angle_y Y-axis angular offset (in radians) of the target from the center of the image
|
||
|
|
* @param distance Distance to the target from the vehicle in meters
|
||
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_landing_target_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
|
||
|
|
uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN];
|
||
|
|
_mav_put_float(buf, 0, angle_x);
|
||
|
|
_mav_put_float(buf, 4, angle_y);
|
||
|
|
_mav_put_float(buf, 8, distance);
|
||
|
|
_mav_put_uint8_t(buf, 12, target_num);
|
||
|
|
_mav_put_uint8_t(buf, 13, frame);
|
||
|
|
|
||
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#else
|
||
|
|
mavlink_landing_target_t packet;
|
||
|
|
packet.angle_x = angle_x;
|
||
|
|
packet.angle_y = angle_y;
|
||
|
|
packet.distance = distance;
|
||
|
|
packet.target_num = target_num;
|
||
|
|
packet.frame = frame;
|
||
|
|
|
||
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
msg->msgid = MAVLINK_MSG_ID_LANDING_TARGET;
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
|
||
|
|
#else
|
||
|
|
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Pack a landing_target message on a channel
|
||
|
|
* @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 will be sent over
|
||
|
|
* @param msg The MAVLink message to compress the data into
|
||
|
|
* @param target_num The ID of the target if multiple targets are present
|
||
|
|
* @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
|
||
|
|
* @param angle_x X-axis angular offset (in radians) of the target from the center of the image
|
||
|
|
* @param angle_y Y-axis angular offset (in radians) of the target from the center of the image
|
||
|
|
* @param distance Distance to the target from the vehicle in meters
|
||
|
|
* @return length of the message in bytes (excluding serial stream start sign)
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_landing_target_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
|
||
|
|
mavlink_message_t* msg,
|
||
|
|
uint8_t target_num,uint8_t frame,float angle_x,float angle_y,float distance)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN];
|
||
|
|
_mav_put_float(buf, 0, angle_x);
|
||
|
|
_mav_put_float(buf, 4, angle_y);
|
||
|
|
_mav_put_float(buf, 8, distance);
|
||
|
|
_mav_put_uint8_t(buf, 12, target_num);
|
||
|
|
_mav_put_uint8_t(buf, 13, frame);
|
||
|
|
|
||
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#else
|
||
|
|
mavlink_landing_target_t packet;
|
||
|
|
packet.angle_x = angle_x;
|
||
|
|
packet.angle_y = angle_y;
|
||
|
|
packet.distance = distance;
|
||
|
|
packet.target_num = target_num;
|
||
|
|
packet.frame = frame;
|
||
|
|
|
||
|
|
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
msg->msgid = MAVLINK_MSG_ID_LANDING_TARGET;
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
|
||
|
|
#else
|
||
|
|
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Encode a landing_target struct
|
||
|
|
*
|
||
|
|
* @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 landing_target C-struct to read the message contents from
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_landing_target_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_landing_target_t* landing_target)
|
||
|
|
{
|
||
|
|
return mavlink_msg_landing_target_pack(system_id, component_id, msg, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Encode a landing_target struct on a channel
|
||
|
|
*
|
||
|
|
* @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 will be sent over
|
||
|
|
* @param msg The MAVLink message to compress the data into
|
||
|
|
* @param landing_target C-struct to read the message contents from
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_landing_target_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_landing_target_t* landing_target)
|
||
|
|
{
|
||
|
|
return mavlink_msg_landing_target_pack_chan(system_id, component_id, chan, msg, landing_target->target_num, landing_target->frame, landing_target->angle_x, landing_target->angle_y, landing_target->distance);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Send a landing_target message
|
||
|
|
* @param chan MAVLink channel to send the message
|
||
|
|
*
|
||
|
|
* @param target_num The ID of the target if multiple targets are present
|
||
|
|
* @param frame MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
|
||
|
|
* @param angle_x X-axis angular offset (in radians) of the target from the center of the image
|
||
|
|
* @param angle_y Y-axis angular offset (in radians) of the target from the center of the image
|
||
|
|
* @param distance Distance to the target from the vehicle in meters
|
||
|
|
*/
|
||
|
|
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
|
||
|
|
|
||
|
|
static inline void mavlink_msg_landing_target_send(mavlink_channel_t chan, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char buf[MAVLINK_MSG_ID_LANDING_TARGET_LEN];
|
||
|
|
_mav_put_float(buf, 0, angle_x);
|
||
|
|
_mav_put_float(buf, 4, angle_y);
|
||
|
|
_mav_put_float(buf, 8, distance);
|
||
|
|
_mav_put_uint8_t(buf, 12, target_num);
|
||
|
|
_mav_put_uint8_t(buf, 13, frame);
|
||
|
|
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#endif
|
||
|
|
#else
|
||
|
|
mavlink_landing_target_t packet;
|
||
|
|
packet.angle_x = angle_x;
|
||
|
|
packet.angle_y = angle_y;
|
||
|
|
packet.distance = distance;
|
||
|
|
packet.target_num = target_num;
|
||
|
|
packet.frame = frame;
|
||
|
|
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)&packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)&packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
#if MAVLINK_MSG_ID_LANDING_TARGET_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
||
|
|
/*
|
||
|
|
This varient of _send() can be used to save stack space by re-using
|
||
|
|
memory from the receive buffer. The caller provides a
|
||
|
|
mavlink_message_t which is the size of a full mavlink message. This
|
||
|
|
is usually the receive buffer for the channel, and allows a reply to an
|
||
|
|
incoming message with minimum stack space usage.
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_landing_target_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint8_t target_num, uint8_t frame, float angle_x, float angle_y, float distance)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
char *buf = (char *)msgbuf;
|
||
|
|
_mav_put_float(buf, 0, angle_x);
|
||
|
|
_mav_put_float(buf, 4, angle_y);
|
||
|
|
_mav_put_float(buf, 8, distance);
|
||
|
|
_mav_put_uint8_t(buf, 12, target_num);
|
||
|
|
_mav_put_uint8_t(buf, 13, frame);
|
||
|
|
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, buf, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#endif
|
||
|
|
#else
|
||
|
|
mavlink_landing_target_t *packet = (mavlink_landing_target_t *)msgbuf;
|
||
|
|
packet->angle_x = angle_x;
|
||
|
|
packet->angle_y = angle_y;
|
||
|
|
packet->distance = distance;
|
||
|
|
packet->target_num = target_num;
|
||
|
|
packet->frame = frame;
|
||
|
|
|
||
|
|
#if MAVLINK_CRC_EXTRA
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN, MAVLINK_MSG_ID_LANDING_TARGET_CRC);
|
||
|
|
#else
|
||
|
|
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_LANDING_TARGET, (const char *)packet, MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#endif
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|
||
|
|
// MESSAGE LANDING_TARGET UNPACKING
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field target_num from landing_target message
|
||
|
|
*
|
||
|
|
* @return The ID of the target if multiple targets are present
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_landing_target_get_target_num(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 12);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field frame from landing_target message
|
||
|
|
*
|
||
|
|
* @return MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
|
||
|
|
*/
|
||
|
|
static inline uint8_t mavlink_msg_landing_target_get_frame(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_uint8_t(msg, 13);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field angle_x from landing_target message
|
||
|
|
*
|
||
|
|
* @return X-axis angular offset (in radians) of the target from the center of the image
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_landing_target_get_angle_x(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field angle_y from landing_target message
|
||
|
|
*
|
||
|
|
* @return Y-axis angular offset (in radians) of the target from the center of the image
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_landing_target_get_angle_y(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 4);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field distance from landing_target message
|
||
|
|
*
|
||
|
|
* @return Distance to the target from the vehicle in meters
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_landing_target_get_distance(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 8);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a landing_target message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param landing_target C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_landing_target_decode(const mavlink_message_t* msg, mavlink_landing_target_t* landing_target)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP
|
||
|
|
landing_target->angle_x = mavlink_msg_landing_target_get_angle_x(msg);
|
||
|
|
landing_target->angle_y = mavlink_msg_landing_target_get_angle_y(msg);
|
||
|
|
landing_target->distance = mavlink_msg_landing_target_get_distance(msg);
|
||
|
|
landing_target->target_num = mavlink_msg_landing_target_get_target_num(msg);
|
||
|
|
landing_target->frame = mavlink_msg_landing_target_get_frame(msg);
|
||
|
|
#else
|
||
|
|
memcpy(landing_target, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_LANDING_TARGET_LEN);
|
||
|
|
#endif
|
||
|
|
}
|