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✨feat: update definitions

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matt
2020-09-20 13:56:18 +08:00
parent 36a71efa12
commit b2baf4bffc
146 changed files with 28320 additions and 3729 deletions
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common/mavlink_msg_vision_position_estimate.h
+56 -31
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@@ -6,18 +6,19 @@
typedef struct __mavlink_vision_position_estimate_t {
uint32_t usec; /*< [us] Timestamp (UNIX time or time since system boot)*/
float x; /*< [m] Global X position*/
float y; /*< [m] Global Y position*/
float z; /*< [m] Global Z position*/
float x; /*< [m] Local X position*/
float y; /*< [m] Local Y position*/
float z; /*< [m] Local Z position*/
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, y, z, 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_vision_position_estimate_t;
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 112
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 113
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN 28
#define MAVLINK_MSG_ID_102_LEN 112
#define MAVLINK_MSG_ID_102_LEN 113
#define MAVLINK_MSG_ID_102_MIN_LEN 28
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC 14
@@ -29,7 +30,7 @@ typedef struct __mavlink_vision_position_estimate_t {
#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
102, \
"VISION_POSITION_ESTIMATE", \
8, \
9, \
{ { "usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vision_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, y) }, \
@@ -38,12 +39,13 @@ typedef struct __mavlink_vision_position_estimate_t {
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 28, offsetof(mavlink_vision_position_estimate_t, covariance) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 112, offsetof(mavlink_vision_position_estimate_t, reset_counter) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
"VISION_POSITION_ESTIMATE", \
8, \
9, \
{ { "usec", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_vision_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, y) }, \
@@ -52,6 +54,7 @@ typedef struct __mavlink_vision_position_estimate_t {
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 28, offsetof(mavlink_vision_position_estimate_t, covariance) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 112, offsetof(mavlink_vision_position_estimate_t, reset_counter) }, \
} \
}
#endif
@@ -63,17 +66,18 @@ typedef struct __mavlink_vision_position_estimate_t {
* @param msg The MAVLink message to compress the data into
*
* @param usec [us] Timestamp (UNIX time or time since system boot)
* @param x [m] Global X position
* @param y [m] Global Y position
* @param z [m] Global Z position
* @param x [m] Local X position
* @param y [m] Local Y position
* @param z [m] Local Z position
* @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, y, z, 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_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_VISION_POSITION_ESTIMATE_LEN];
@@ -84,6 +88,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint16_t system
_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_VISION_POSITION_ESTIMATE_LEN);
#else
@@ -95,6 +100,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint16_t system
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_VISION_POSITION_ESTIMATE_LEN);
#endif
@@ -110,18 +116,19 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint16_t system
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param usec [us] Timestamp (UNIX time or time since system boot)
* @param x [m] Global X position
* @param y [m] Global Y position
* @param z [m] Global Z position
* @param x [m] Local X position
* @param y [m] Local Y position
* @param z [m] Local Z position
* @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, y, z, 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_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_VISION_POSITION_ESTIMATE_LEN];
@@ -132,6 +139,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint16_t s
_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_VISION_POSITION_ESTIMATE_LEN);
#else
@@ -143,6 +151,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint16_t s
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_VISION_POSITION_ESTIMATE_LEN);
#endif
@@ -161,7 +170,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint16_t s
*/
static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint16_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate)
{
return mavlink_msg_vision_position_estimate_pack(system_id, component_id, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw, vision_position_estimate->covariance);
return mavlink_msg_vision_position_estimate_pack(system_id, component_id, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw, vision_position_estimate->covariance, vision_position_estimate->reset_counter);
}
/**
@@ -175,7 +184,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint16_t syst
*/
static inline uint16_t mavlink_msg_vision_position_estimate_encode_chan(uint16_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vision_position_estimate_t* vision_position_estimate)
{
return mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw, vision_position_estimate->covariance);
return mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, chan, msg, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw, vision_position_estimate->covariance, vision_position_estimate->reset_counter);
}
/**
@@ -183,17 +192,18 @@ static inline uint16_t mavlink_msg_vision_position_estimate_encode_chan(uint16_t
* @param chan MAVLink channel to send the message
*
* @param usec [us] Timestamp (UNIX time or time since system boot)
* @param x [m] Global X position
* @param y [m] Global Y position
* @param z [m] Global Z position
* @param x [m] Local X position
* @param y [m] Local Y position
* @param z [m] Local Z position
* @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, y, z, 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_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_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_VISION_POSITION_ESTIMATE_LEN];
@@ -204,6 +214,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c
_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_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
#else
@@ -215,6 +226,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c
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_VISION_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
#endif
@@ -228,7 +240,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c
static inline void mavlink_msg_vision_position_estimate_send_struct(mavlink_channel_t chan, const mavlink_vision_position_estimate_t* vision_position_estimate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_vision_position_estimate_send(chan, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw, vision_position_estimate->covariance);
mavlink_msg_vision_position_estimate_send(chan, vision_position_estimate->usec, vision_position_estimate->x, vision_position_estimate->y, vision_position_estimate->z, vision_position_estimate->roll, vision_position_estimate->pitch, vision_position_estimate->yaw, vision_position_estimate->covariance, vision_position_estimate->reset_counter);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE, (const char *)vision_position_estimate, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
#endif
@@ -242,7 +254,7 @@ static inline void mavlink_msg_vision_position_estimate_send_struct(mavlink_chan
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_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_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_vision_position_estimate_send_buf(mavlink_message
_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_VISION_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
#else
@@ -264,6 +277,7 @@ static inline void mavlink_msg_vision_position_estimate_send_buf(mavlink_message
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_VISION_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC);
#endif
@@ -288,7 +302,7 @@ static inline uint32_t mavlink_msg_vision_position_estimate_get_usec(const mavli
/**
* @brief Get field x from vision_position_estimate message
*
* @return [m] Global X position
* @return [m] Local X position
*/
static inline float mavlink_msg_vision_position_estimate_get_x(const mavlink_message_t* msg)
{
@@ -298,7 +312,7 @@ static inline float mavlink_msg_vision_position_estimate_get_x(const mavlink_mes
/**
* @brief Get field y from vision_position_estimate message
*
* @return [m] Global Y position
* @return [m] Local Y position
*/
static inline float mavlink_msg_vision_position_estimate_get_y(const mavlink_message_t* msg)
{
@@ -308,7 +322,7 @@ static inline float mavlink_msg_vision_position_estimate_get_y(const mavlink_mes
/**
* @brief Get field z from vision_position_estimate message
*
* @return [m] Global Z position
* @return [m] Local Z position
*/
static inline float mavlink_msg_vision_position_estimate_get_z(const mavlink_message_t* msg)
{
@@ -348,13 +362,23 @@ static inline float mavlink_msg_vision_position_estimate_get_yaw(const mavlink_m
/**
* @brief Get field covariance from 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, y, z, 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_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 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_vision_position_estimate_get_reset_counter(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 112);
}
/**
* @brief Decode a vision_position_estimate message into a struct
*
@@ -372,6 +396,7 @@ static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_mes
vision_position_estimate->pitch = mavlink_msg_vision_position_estimate_get_pitch(msg);
vision_position_estimate->yaw = mavlink_msg_vision_position_estimate_get_yaw(msg);
mavlink_msg_vision_position_estimate_get_covariance(msg, vision_position_estimate->covariance);
vision_position_estimate->reset_counter = mavlink_msg_vision_position_estimate_get_reset_counter(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN;
memset(vision_position_estimate, 0, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);