307 lines
16 KiB
C
307 lines
16 KiB
C
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#pragma once
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// MESSAGE VISION_POSITION_DELTA PACKING
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#define MAVLINK_MSG_ID_VISION_POSITION_DELTA 11011
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MAVPACKED(
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typedef struct __mavlink_vision_position_delta_t {
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uint64_t time_usec; /*< Timestamp (microseconds, synced to UNIX time or since system boot)*/
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uint64_t time_delta_usec; /*< Time in microseconds since the last reported camera frame*/
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float angle_delta[3]; /*< Defines a rotation vector in body frame that rotates the vehicle from the previous to the current orientation*/
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float position_delta[3]; /*< Change in position in meters from previous to current frame rotated into body frame (0=forward, 1=right, 2=down)*/
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float confidence; /*< normalised confidence value from 0 to 100*/
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}) mavlink_vision_position_delta_t;
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#define MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN 44
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#define MAVLINK_MSG_ID_VISION_POSITION_DELTA_MIN_LEN 44
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#define MAVLINK_MSG_ID_11011_LEN 44
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#define MAVLINK_MSG_ID_11011_MIN_LEN 44
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#define MAVLINK_MSG_ID_VISION_POSITION_DELTA_CRC 106
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#define MAVLINK_MSG_ID_11011_CRC 106
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#define MAVLINK_MSG_VISION_POSITION_DELTA_FIELD_ANGLE_DELTA_LEN 3
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#define MAVLINK_MSG_VISION_POSITION_DELTA_FIELD_POSITION_DELTA_LEN 3
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_VISION_POSITION_DELTA { \
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11011, \
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"VISION_POSITION_DELTA", \
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5, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_delta_t, time_usec) }, \
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{ "time_delta_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_vision_position_delta_t, time_delta_usec) }, \
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{ "angle_delta", NULL, MAVLINK_TYPE_FLOAT, 3, 16, offsetof(mavlink_vision_position_delta_t, angle_delta) }, \
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{ "position_delta", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_vision_position_delta_t, position_delta) }, \
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{ "confidence", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_vision_position_delta_t, confidence) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_VISION_POSITION_DELTA { \
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"VISION_POSITION_DELTA", \
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5, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_delta_t, time_usec) }, \
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{ "time_delta_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 8, offsetof(mavlink_vision_position_delta_t, time_delta_usec) }, \
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{ "angle_delta", NULL, MAVLINK_TYPE_FLOAT, 3, 16, offsetof(mavlink_vision_position_delta_t, angle_delta) }, \
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{ "position_delta", NULL, MAVLINK_TYPE_FLOAT, 3, 28, offsetof(mavlink_vision_position_delta_t, position_delta) }, \
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{ "confidence", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_vision_position_delta_t, confidence) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a vision_position_delta message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
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* @param time_delta_usec Time in microseconds since the last reported camera frame
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* @param angle_delta Defines a rotation vector in body frame that rotates the vehicle from the previous to the current orientation
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* @param position_delta Change in position in meters from previous to current frame rotated into body frame (0=forward, 1=right, 2=down)
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* @param confidence normalised confidence value from 0 to 100
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_vision_position_delta_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint64_t time_delta_usec, const float *angle_delta, const float *position_delta, float confidence)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint64_t(buf, 8, time_delta_usec);
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_mav_put_float(buf, 40, confidence);
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_mav_put_float_array(buf, 16, angle_delta, 3);
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_mav_put_float_array(buf, 28, position_delta, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN);
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#else
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mavlink_vision_position_delta_t packet;
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packet.time_usec = time_usec;
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packet.time_delta_usec = time_delta_usec;
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packet.confidence = confidence;
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mav_array_memcpy(packet.angle_delta, angle_delta, sizeof(float)*3);
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mav_array_memcpy(packet.position_delta, position_delta, sizeof(float)*3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_DELTA;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_VISION_POSITION_DELTA_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_CRC);
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}
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/**
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* @brief Pack a vision_position_delta message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
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* @param time_delta_usec Time in microseconds since the last reported camera frame
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* @param angle_delta Defines a rotation vector in body frame that rotates the vehicle from the previous to the current orientation
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* @param position_delta Change in position in meters from previous to current frame rotated into body frame (0=forward, 1=right, 2=down)
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* @param confidence normalised confidence value from 0 to 100
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_vision_position_delta_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t time_usec,uint64_t time_delta_usec,const float *angle_delta,const float *position_delta,float confidence)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint64_t(buf, 8, time_delta_usec);
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_mav_put_float(buf, 40, confidence);
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_mav_put_float_array(buf, 16, angle_delta, 3);
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_mav_put_float_array(buf, 28, position_delta, 3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN);
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#else
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mavlink_vision_position_delta_t packet;
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packet.time_usec = time_usec;
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packet.time_delta_usec = time_delta_usec;
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packet.confidence = confidence;
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mav_array_memcpy(packet.angle_delta, angle_delta, sizeof(float)*3);
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mav_array_memcpy(packet.position_delta, position_delta, sizeof(float)*3);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_VISION_POSITION_DELTA;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_VISION_POSITION_DELTA_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_CRC);
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}
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/**
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* @brief Encode a vision_position_delta struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param vision_position_delta C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_vision_position_delta_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_position_delta_t* vision_position_delta)
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{
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return mavlink_msg_vision_position_delta_pack(system_id, component_id, msg, vision_position_delta->time_usec, vision_position_delta->time_delta_usec, vision_position_delta->angle_delta, vision_position_delta->position_delta, vision_position_delta->confidence);
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}
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/**
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* @brief Encode a vision_position_delta struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param vision_position_delta C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_vision_position_delta_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vision_position_delta_t* vision_position_delta)
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{
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return mavlink_msg_vision_position_delta_pack_chan(system_id, component_id, chan, msg, vision_position_delta->time_usec, vision_position_delta->time_delta_usec, vision_position_delta->angle_delta, vision_position_delta->position_delta, vision_position_delta->confidence);
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}
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/**
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* @brief Send a vision_position_delta message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec Timestamp (microseconds, synced to UNIX time or since system boot)
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* @param time_delta_usec Time in microseconds since the last reported camera frame
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* @param angle_delta Defines a rotation vector in body frame that rotates the vehicle from the previous to the current orientation
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* @param position_delta Change in position in meters from previous to current frame rotated into body frame (0=forward, 1=right, 2=down)
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* @param confidence normalised confidence value from 0 to 100
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_vision_position_delta_send(mavlink_channel_t chan, uint64_t time_usec, uint64_t time_delta_usec, const float *angle_delta, const float *position_delta, float confidence)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint64_t(buf, 8, time_delta_usec);
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_mav_put_float(buf, 40, confidence);
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_mav_put_float_array(buf, 16, angle_delta, 3);
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_mav_put_float_array(buf, 28, position_delta, 3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_DELTA, buf, MAVLINK_MSG_ID_VISION_POSITION_DELTA_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_CRC);
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#else
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mavlink_vision_position_delta_t packet;
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packet.time_usec = time_usec;
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packet.time_delta_usec = time_delta_usec;
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packet.confidence = confidence;
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mav_array_memcpy(packet.angle_delta, angle_delta, sizeof(float)*3);
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mav_array_memcpy(packet.position_delta, position_delta, sizeof(float)*3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_DELTA, (const char *)&packet, MAVLINK_MSG_ID_VISION_POSITION_DELTA_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_CRC);
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#endif
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}
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/**
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* @brief Send a vision_position_delta message
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* @param chan MAVLink channel to send the message
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* @param struct The MAVLink struct to serialize
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*/
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static inline void mavlink_msg_vision_position_delta_send_struct(mavlink_channel_t chan, const mavlink_vision_position_delta_t* vision_position_delta)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_vision_position_delta_send(chan, vision_position_delta->time_usec, vision_position_delta->time_delta_usec, vision_position_delta->angle_delta, vision_position_delta->position_delta, vision_position_delta->confidence);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_DELTA, (const char *)vision_position_delta, MAVLINK_MSG_ID_VISION_POSITION_DELTA_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This varient of _send() can be used to save stack space by re-using
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memory from the receive buffer. The caller provides a
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mavlink_message_t which is the size of a full mavlink message. This
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is usually the receive buffer for the channel, and allows a reply to an
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incoming message with minimum stack space usage.
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*/
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static inline void mavlink_msg_vision_position_delta_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint64_t time_delta_usec, const float *angle_delta, const float *position_delta, float confidence)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char *buf = (char *)msgbuf;
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_uint64_t(buf, 8, time_delta_usec);
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_mav_put_float(buf, 40, confidence);
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_mav_put_float_array(buf, 16, angle_delta, 3);
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_mav_put_float_array(buf, 28, position_delta, 3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_DELTA, buf, MAVLINK_MSG_ID_VISION_POSITION_DELTA_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_CRC);
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#else
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mavlink_vision_position_delta_t *packet = (mavlink_vision_position_delta_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->time_delta_usec = time_delta_usec;
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packet->confidence = confidence;
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mav_array_memcpy(packet->angle_delta, angle_delta, sizeof(float)*3);
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mav_array_memcpy(packet->position_delta, position_delta, sizeof(float)*3);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_DELTA, (const char *)packet, MAVLINK_MSG_ID_VISION_POSITION_DELTA_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN, MAVLINK_MSG_ID_VISION_POSITION_DELTA_CRC);
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#endif
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}
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#endif
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#endif
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// MESSAGE VISION_POSITION_DELTA UNPACKING
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/**
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* @brief Get field time_usec from vision_position_delta message
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*
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* @return Timestamp (microseconds, synced to UNIX time or since system boot)
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*/
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static inline uint64_t mavlink_msg_vision_position_delta_get_time_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 0);
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}
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/**
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* @brief Get field time_delta_usec from vision_position_delta message
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*
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* @return Time in microseconds since the last reported camera frame
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*/
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static inline uint64_t mavlink_msg_vision_position_delta_get_time_delta_usec(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_uint64_t(msg, 8);
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}
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/**
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* @brief Get field angle_delta from vision_position_delta message
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*
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* @return Defines a rotation vector in body frame that rotates the vehicle from the previous to the current orientation
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*/
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||
|
|
static inline uint16_t mavlink_msg_vision_position_delta_get_angle_delta(const mavlink_message_t* msg, float *angle_delta)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float_array(msg, angle_delta, 3, 16);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field position_delta from vision_position_delta message
|
||
|
|
*
|
||
|
|
* @return Change in position in meters from previous to current frame rotated into body frame (0=forward, 1=right, 2=down)
|
||
|
|
*/
|
||
|
|
static inline uint16_t mavlink_msg_vision_position_delta_get_position_delta(const mavlink_message_t* msg, float *position_delta)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float_array(msg, position_delta, 3, 28);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Get field confidence from vision_position_delta message
|
||
|
|
*
|
||
|
|
* @return normalised confidence value from 0 to 100
|
||
|
|
*/
|
||
|
|
static inline float mavlink_msg_vision_position_delta_get_confidence(const mavlink_message_t* msg)
|
||
|
|
{
|
||
|
|
return _MAV_RETURN_float(msg, 40);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
* @brief Decode a vision_position_delta message into a struct
|
||
|
|
*
|
||
|
|
* @param msg The message to decode
|
||
|
|
* @param vision_position_delta C-struct to decode the message contents into
|
||
|
|
*/
|
||
|
|
static inline void mavlink_msg_vision_position_delta_decode(const mavlink_message_t* msg, mavlink_vision_position_delta_t* vision_position_delta)
|
||
|
|
{
|
||
|
|
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||
|
|
vision_position_delta->time_usec = mavlink_msg_vision_position_delta_get_time_usec(msg);
|
||
|
|
vision_position_delta->time_delta_usec = mavlink_msg_vision_position_delta_get_time_delta_usec(msg);
|
||
|
|
mavlink_msg_vision_position_delta_get_angle_delta(msg, vision_position_delta->angle_delta);
|
||
|
|
mavlink_msg_vision_position_delta_get_position_delta(msg, vision_position_delta->position_delta);
|
||
|
|
vision_position_delta->confidence = mavlink_msg_vision_position_delta_get_confidence(msg);
|
||
|
|
#else
|
||
|
|
uint8_t len = msg->len < MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN? msg->len : MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN;
|
||
|
|
memset(vision_position_delta, 0, MAVLINK_MSG_ID_VISION_POSITION_DELTA_LEN);
|
||
|
|
memcpy(vision_position_delta, _MAV_PAYLOAD(msg), len);
|
||
|
|
#endif
|
||
|
|
}
|