hm/c_library_v2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

✨feat: update definitions

Browse Source
This commit is contained in:
matt
2020-09-20 13:56:18 +08:00
parent 36a71efa12
commit b2baf4bffc
146 changed files with 28320 additions and 3729 deletions
Download Patch File Download Diff File Expand all files Collapse all files
common/mavlink_msg_global_vision_position_estimate.h
+41 -16
View File
@@ -12,12 +12,13 @@ typedef struct __mavlink_global_vision_position_estimate_t {
float roll; /*< [rad] Roll angle*/
float pitch; /*< [rad] Pitch angle*/
float yaw; /*< [rad] Yaw angle*/
float covariance[21]; /*< Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
float covariance[21]; /*< Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.*/
uint8_t reset_counter; /*< Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.*/
} mavlink_global_vision_position_estimate_t;
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 112
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 113
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN 28
#define MAVLINK_MSG_ID_101_LEN 112
#define MAVLINK_MSG_ID_101_LEN 113
#define MAVLINK_MSG_ID_101_MIN_LEN 28
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC 246
@@ -29,7 +30,7 @@ typedef struct __mavlink_global_vision_position_estimate_t {
#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
101, \
"GLOBAL_VISION_POSITION_ESTIMATE", \
8, \
9, \
{ { "usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
@@ -38,12 +39,13 @@ typedef struct __mavlink_global_vision_position_estimate_t {
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 28, offsetof(mavlink_global_vision_position_estimate_t, covariance) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 112, offsetof(mavlink_global_vision_position_estimate_t, reset_counter) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
"GLOBAL_VISION_POSITION_ESTIMATE", \
8, \
9, \
{ { "usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
@@ -52,6 +54,7 @@ typedef struct __mavlink_global_vision_position_estimate_t {
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 28, offsetof(mavlink_global_vision_position_estimate_t, covariance) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 112, offsetof(mavlink_global_vision_position_estimate_t, reset_counter) }, \
} \
}
#endif
@@ -69,11 +72,12 @@ typedef struct __mavlink_global_vision_position_estimate_t {
* @param roll [rad] Roll angle
* @param pitch [rad] Pitch angle
* @param yaw [rad] Yaw angle
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @param covariance Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint32_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
uint32_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
@@ -84,6 +88,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint16_t
_mav_put_float(buf, 16, roll);
_mav_put_float(buf, 20, pitch);
_mav_put_float(buf, 24, yaw);
_mav_put_uint8_t(buf, 112, reset_counter);
_mav_put_float_array(buf, 28, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
@@ -95,6 +100,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint16_t
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.reset_counter = reset_counter;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif
@@ -116,12 +122,13 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint16_t
* @param roll [rad] Roll angle
* @param pitch [rad] Pitch angle
* @param yaw [rad] Yaw angle
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @param covariance Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uint16_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint32_t usec,float x,float y,float z,float roll,float pitch,float yaw,const float *covariance)
uint32_t usec,float x,float y,float z,float roll,float pitch,float yaw,const float *covariance,uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
@@ -132,6 +139,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uin
_mav_put_float(buf, 16, roll);
_mav_put_float(buf, 20, pitch);
_mav_put_float(buf, 24, yaw);
_mav_put_uint8_t(buf, 112, reset_counter);
_mav_put_float_array(buf, 28, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
@@ -143,6 +151,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uin
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.reset_counter = reset_counter;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#endif
@@ -161,7 +170,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uin
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw, global_vision_position_estimate->covariance);
return mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw, global_vision_position_estimate->covariance, global_vision_position_estimate->reset_counter);
}
/**
@@ -175,7 +184,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint16
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
return mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw, global_vision_position_estimate->covariance);
return mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw, global_vision_position_estimate->covariance, global_vision_position_estimate->reset_counter);
}
/**
@@ -189,11 +198,12 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(u
* @param roll [rad] Roll angle
* @param pitch [rad] Pitch angle
* @param yaw [rad] Yaw angle
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @param covariance Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint32_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint32_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
@@ -204,6 +214,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_chan
_mav_put_float(buf, 16, roll);
_mav_put_float(buf, 20, pitch);
_mav_put_float(buf, 24, yaw);
_mav_put_uint8_t(buf, 112, reset_counter);
_mav_put_float_array(buf, 28, covariance, 21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#else
@@ -215,6 +226,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_chan
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.reset_counter = reset_counter;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#endif
@@ -228,7 +240,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_chan
static inline void mavlink_msg_global_vision_position_estimate_send_struct(mavlink_channel_t chan, const mavlink_global_vision_position_estimate_t* global_vision_position_estimate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_global_vision_position_estimate_send(chan, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw, global_vision_position_estimate->covariance);
mavlink_msg_global_vision_position_estimate_send(chan, global_vision_position_estimate->usec, global_vision_position_estimate->x, global_vision_position_estimate->y, global_vision_position_estimate->z, global_vision_position_estimate->roll, global_vision_position_estimate->pitch, global_vision_position_estimate->yaw, global_vision_position_estimate->covariance, global_vision_position_estimate->reset_counter);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)global_vision_position_estimate, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#endif
@@ -242,7 +254,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send_struct(mavli
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_global_vision_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
@@ -253,6 +265,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_
_mav_put_float(buf, 16, roll);
_mav_put_float(buf, 20, pitch);
_mav_put_float(buf, 24, yaw);
_mav_put_uint8_t(buf, 112, reset_counter);
_mav_put_float_array(buf, 28, covariance, 21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#else
@@ -264,6 +277,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
packet->reset_counter = reset_counter;
mav_array_memcpy(packet->covariance, covariance, sizeof(float)*21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC);
#endif
@@ -348,13 +362,23 @@ static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const ma
/**
* @brief Get field covariance from global_vision_position_estimate message
*
* @return Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_get_covariance(const mavlink_message_t* msg, float *covariance)
{
return _MAV_RETURN_float_array(msg, covariance, 21, 28);
}
/**
* @brief Get field reset_counter from global_vision_position_estimate message
*
* @return Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
*/
static inline uint8_t mavlink_msg_global_vision_position_estimate_get_reset_counter(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 112);
}
/**
* @brief Decode a global_vision_position_estimate message into a struct
*
@@ -372,6 +396,7 @@ static inline void mavlink_msg_global_vision_position_estimate_decode(const mavl
global_vision_position_estimate->pitch = mavlink_msg_global_vision_position_estimate_get_pitch(msg);
global_vision_position_estimate->yaw = mavlink_msg_global_vision_position_estimate_get_yaw(msg);
mavlink_msg_global_vision_position_estimate_get_covariance(msg, global_vision_position_estimate->covariance);
global_vision_position_estimate->reset_counter = mavlink_msg_global_vision_position_estimate_get_reset_counter(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN;
memset(global_vision_position_estimate, 0, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);