// MESSAGE CAMERA_FEEDBACK PACKING #define MAVLINK_MSG_ID_CAMERA_FEEDBACK 180 typedef struct __mavlink_camera_feedback_t { uint64_t time_usec; ///< Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) int32_t lat; ///< Latitude in (deg * 1E7) int32_t lng; ///< Longitude in (deg * 1E7) float alt_msl; ///< Altitude Absolute (meters AMSL) float alt_rel; ///< Altitude Relative (meters above HOME location) float roll; ///< Camera Roll angle (earth frame, degrees, +-180) float pitch; ///< Camera Pitch angle (earth frame, degrees, +-180) float yaw; ///< Camera Yaw (earth frame, degrees, 0-360, true) float foc_len; ///< Focal Length (mm) uint16_t img_idx; ///< Image index uint8_t target_system; ///< System ID uint8_t cam_idx; ///< Camera ID uint8_t flags; ///< See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask } mavlink_camera_feedback_t; #define MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN 45 #define MAVLINK_MSG_ID_180_LEN 45 #define MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC 52 #define MAVLINK_MSG_ID_180_CRC 52 #define MAVLINK_MESSAGE_INFO_CAMERA_FEEDBACK { \ "CAMERA_FEEDBACK", \ 13, \ { { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_camera_feedback_t, time_usec) }, \ { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_camera_feedback_t, lat) }, \ { "lng", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_camera_feedback_t, lng) }, \ { "alt_msl", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_camera_feedback_t, alt_msl) }, \ { "alt_rel", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_camera_feedback_t, alt_rel) }, \ { "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_camera_feedback_t, roll) }, \ { "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_camera_feedback_t, pitch) }, \ { "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_camera_feedback_t, yaw) }, \ { "foc_len", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_camera_feedback_t, foc_len) }, \ { "img_idx", NULL, MAVLINK_TYPE_UINT16_T, 0, 40, offsetof(mavlink_camera_feedback_t, img_idx) }, \ { "target_system", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_camera_feedback_t, target_system) }, \ { "cam_idx", NULL, MAVLINK_TYPE_UINT8_T, 0, 43, offsetof(mavlink_camera_feedback_t, cam_idx) }, \ { "flags", NULL, MAVLINK_TYPE_UINT8_T, 0, 44, offsetof(mavlink_camera_feedback_t, flags) }, \ } \ } /** * @brief Pack a camera_feedback 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 time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) * @param target_system System ID * @param cam_idx Camera ID * @param img_idx Image index * @param lat Latitude in (deg * 1E7) * @param lng Longitude in (deg * 1E7) * @param alt_msl Altitude Absolute (meters AMSL) * @param alt_rel Altitude Relative (meters above HOME location) * @param roll Camera Roll angle (earth frame, degrees, +-180) * @param pitch Camera Pitch angle (earth frame, degrees, +-180) * @param yaw Camera Yaw (earth frame, degrees, 0-360, true) * @param foc_len Focal Length (mm) * @param flags See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_camera_feedback_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int32_t(buf, 8, lat); _mav_put_int32_t(buf, 12, lng); _mav_put_float(buf, 16, alt_msl); _mav_put_float(buf, 20, alt_rel); _mav_put_float(buf, 24, roll); _mav_put_float(buf, 28, pitch); _mav_put_float(buf, 32, yaw); _mav_put_float(buf, 36, foc_len); _mav_put_uint16_t(buf, 40, img_idx); _mav_put_uint8_t(buf, 42, target_system); _mav_put_uint8_t(buf, 43, cam_idx); _mav_put_uint8_t(buf, 44, flags); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #else mavlink_camera_feedback_t packet; packet.time_usec = time_usec; packet.lat = lat; packet.lng = lng; packet.alt_msl = alt_msl; packet.alt_rel = alt_rel; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.foc_len = foc_len; packet.img_idx = img_idx; packet.target_system = target_system; packet.cam_idx = cam_idx; packet.flags = flags; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #endif msg->msgid = MAVLINK_MSG_ID_CAMERA_FEEDBACK; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); #else return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #endif } /** * @brief Pack a camera_feedback 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 time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) * @param target_system System ID * @param cam_idx Camera ID * @param img_idx Image index * @param lat Latitude in (deg * 1E7) * @param lng Longitude in (deg * 1E7) * @param alt_msl Altitude Absolute (meters AMSL) * @param alt_rel Altitude Relative (meters above HOME location) * @param roll Camera Roll angle (earth frame, degrees, +-180) * @param pitch Camera Pitch angle (earth frame, degrees, +-180) * @param yaw Camera Yaw (earth frame, degrees, 0-360, true) * @param foc_len Focal Length (mm) * @param flags See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_camera_feedback_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint64_t time_usec,uint8_t target_system,uint8_t cam_idx,uint16_t img_idx,int32_t lat,int32_t lng,float alt_msl,float alt_rel,float roll,float pitch,float yaw,float foc_len,uint8_t flags) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int32_t(buf, 8, lat); _mav_put_int32_t(buf, 12, lng); _mav_put_float(buf, 16, alt_msl); _mav_put_float(buf, 20, alt_rel); _mav_put_float(buf, 24, roll); _mav_put_float(buf, 28, pitch); _mav_put_float(buf, 32, yaw); _mav_put_float(buf, 36, foc_len); _mav_put_uint16_t(buf, 40, img_idx); _mav_put_uint8_t(buf, 42, target_system); _mav_put_uint8_t(buf, 43, cam_idx); _mav_put_uint8_t(buf, 44, flags); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #else mavlink_camera_feedback_t packet; packet.time_usec = time_usec; packet.lat = lat; packet.lng = lng; packet.alt_msl = alt_msl; packet.alt_rel = alt_rel; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.foc_len = foc_len; packet.img_idx = img_idx; packet.target_system = target_system; packet.cam_idx = cam_idx; packet.flags = flags; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #endif msg->msgid = MAVLINK_MSG_ID_CAMERA_FEEDBACK; #if MAVLINK_CRC_EXTRA return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); #else return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #endif } /** * @brief Encode a camera_feedback 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 camera_feedback C-struct to read the message contents from */ static inline uint16_t mavlink_msg_camera_feedback_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback) { return mavlink_msg_camera_feedback_pack(system_id, component_id, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt_msl, camera_feedback->alt_rel, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags); } /** * @brief Encode a camera_feedback 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 camera_feedback C-struct to read the message contents from */ static inline uint16_t mavlink_msg_camera_feedback_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_camera_feedback_t* camera_feedback) { return mavlink_msg_camera_feedback_pack_chan(system_id, component_id, chan, msg, camera_feedback->time_usec, camera_feedback->target_system, camera_feedback->cam_idx, camera_feedback->img_idx, camera_feedback->lat, camera_feedback->lng, camera_feedback->alt_msl, camera_feedback->alt_rel, camera_feedback->roll, camera_feedback->pitch, camera_feedback->yaw, camera_feedback->foc_len, camera_feedback->flags); } /** * @brief Send a camera_feedback message * @param chan MAVLink channel to send the message * * @param time_usec Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) * @param target_system System ID * @param cam_idx Camera ID * @param img_idx Image index * @param lat Latitude in (deg * 1E7) * @param lng Longitude in (deg * 1E7) * @param alt_msl Altitude Absolute (meters AMSL) * @param alt_rel Altitude Relative (meters above HOME location) * @param roll Camera Roll angle (earth frame, degrees, +-180) * @param pitch Camera Pitch angle (earth frame, degrees, +-180) * @param yaw Camera Yaw (earth frame, degrees, 0-360, true) * @param foc_len Focal Length (mm) * @param flags See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_camera_feedback_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN]; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int32_t(buf, 8, lat); _mav_put_int32_t(buf, 12, lng); _mav_put_float(buf, 16, alt_msl); _mav_put_float(buf, 20, alt_rel); _mav_put_float(buf, 24, roll); _mav_put_float(buf, 28, pitch); _mav_put_float(buf, 32, yaw); _mav_put_float(buf, 36, foc_len); _mav_put_uint16_t(buf, 40, img_idx); _mav_put_uint8_t(buf, 42, target_system); _mav_put_uint8_t(buf, 43, cam_idx); _mav_put_uint8_t(buf, 44, flags); #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #endif #else mavlink_camera_feedback_t packet; packet.time_usec = time_usec; packet.lat = lat; packet.lng = lng; packet.alt_msl = alt_msl; packet.alt_rel = alt_rel; packet.roll = roll; packet.pitch = pitch; packet.yaw = yaw; packet.foc_len = foc_len; packet.img_idx = img_idx; packet.target_system = target_system; packet.cam_idx = cam_idx; packet.flags = flags; #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)&packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #endif #endif } #if MAVLINK_MSG_ID_CAMERA_FEEDBACK_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_camera_feedback_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t target_system, uint8_t cam_idx, uint16_t img_idx, int32_t lat, int32_t lng, float alt_msl, float alt_rel, float roll, float pitch, float yaw, float foc_len, uint8_t flags) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint64_t(buf, 0, time_usec); _mav_put_int32_t(buf, 8, lat); _mav_put_int32_t(buf, 12, lng); _mav_put_float(buf, 16, alt_msl); _mav_put_float(buf, 20, alt_rel); _mav_put_float(buf, 24, roll); _mav_put_float(buf, 28, pitch); _mav_put_float(buf, 32, yaw); _mav_put_float(buf, 36, foc_len); _mav_put_uint16_t(buf, 40, img_idx); _mav_put_uint8_t(buf, 42, target_system); _mav_put_uint8_t(buf, 43, cam_idx); _mav_put_uint8_t(buf, 44, flags); #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, buf, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #endif #else mavlink_camera_feedback_t *packet = (mavlink_camera_feedback_t *)msgbuf; packet->time_usec = time_usec; packet->lat = lat; packet->lng = lng; packet->alt_msl = alt_msl; packet->alt_rel = alt_rel; packet->roll = roll; packet->pitch = pitch; packet->yaw = yaw; packet->foc_len = foc_len; packet->img_idx = img_idx; packet->target_system = target_system; packet->cam_idx = cam_idx; packet->flags = flags; #if MAVLINK_CRC_EXTRA _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN, MAVLINK_MSG_ID_CAMERA_FEEDBACK_CRC); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_CAMERA_FEEDBACK, (const char *)packet, MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #endif #endif } #endif #endif // MESSAGE CAMERA_FEEDBACK UNPACKING /** * @brief Get field time_usec from camera_feedback message * * @return Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB) */ static inline uint64_t mavlink_msg_camera_feedback_get_time_usec(const mavlink_message_t* msg) { return _MAV_RETURN_uint64_t(msg, 0); } /** * @brief Get field target_system from camera_feedback message * * @return System ID */ static inline uint8_t mavlink_msg_camera_feedback_get_target_system(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 42); } /** * @brief Get field cam_idx from camera_feedback message * * @return Camera ID */ static inline uint8_t mavlink_msg_camera_feedback_get_cam_idx(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 43); } /** * @brief Get field img_idx from camera_feedback message * * @return Image index */ static inline uint16_t mavlink_msg_camera_feedback_get_img_idx(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 40); } /** * @brief Get field lat from camera_feedback message * * @return Latitude in (deg * 1E7) */ static inline int32_t mavlink_msg_camera_feedback_get_lat(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 8); } /** * @brief Get field lng from camera_feedback message * * @return Longitude in (deg * 1E7) */ static inline int32_t mavlink_msg_camera_feedback_get_lng(const mavlink_message_t* msg) { return _MAV_RETURN_int32_t(msg, 12); } /** * @brief Get field alt_msl from camera_feedback message * * @return Altitude Absolute (meters AMSL) */ static inline float mavlink_msg_camera_feedback_get_alt_msl(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field alt_rel from camera_feedback message * * @return Altitude Relative (meters above HOME location) */ static inline float mavlink_msg_camera_feedback_get_alt_rel(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Get field roll from camera_feedback message * * @return Camera Roll angle (earth frame, degrees, +-180) */ static inline float mavlink_msg_camera_feedback_get_roll(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 24); } /** * @brief Get field pitch from camera_feedback message * * @return Camera Pitch angle (earth frame, degrees, +-180) */ static inline float mavlink_msg_camera_feedback_get_pitch(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 28); } /** * @brief Get field yaw from camera_feedback message * * @return Camera Yaw (earth frame, degrees, 0-360, true) */ static inline float mavlink_msg_camera_feedback_get_yaw(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 32); } /** * @brief Get field foc_len from camera_feedback message * * @return Focal Length (mm) */ static inline float mavlink_msg_camera_feedback_get_foc_len(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 36); } /** * @brief Get field flags from camera_feedback message * * @return See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask */ static inline uint8_t mavlink_msg_camera_feedback_get_flags(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 44); } /** * @brief Decode a camera_feedback message into a struct * * @param msg The message to decode * @param camera_feedback C-struct to decode the message contents into */ static inline void mavlink_msg_camera_feedback_decode(const mavlink_message_t* msg, mavlink_camera_feedback_t* camera_feedback) { #if MAVLINK_NEED_BYTE_SWAP camera_feedback->time_usec = mavlink_msg_camera_feedback_get_time_usec(msg); camera_feedback->lat = mavlink_msg_camera_feedback_get_lat(msg); camera_feedback->lng = mavlink_msg_camera_feedback_get_lng(msg); camera_feedback->alt_msl = mavlink_msg_camera_feedback_get_alt_msl(msg); camera_feedback->alt_rel = mavlink_msg_camera_feedback_get_alt_rel(msg); camera_feedback->roll = mavlink_msg_camera_feedback_get_roll(msg); camera_feedback->pitch = mavlink_msg_camera_feedback_get_pitch(msg); camera_feedback->yaw = mavlink_msg_camera_feedback_get_yaw(msg); camera_feedback->foc_len = mavlink_msg_camera_feedback_get_foc_len(msg); camera_feedback->img_idx = mavlink_msg_camera_feedback_get_img_idx(msg); camera_feedback->target_system = mavlink_msg_camera_feedback_get_target_system(msg); camera_feedback->cam_idx = mavlink_msg_camera_feedback_get_cam_idx(msg); camera_feedback->flags = mavlink_msg_camera_feedback_get_flags(msg); #else memcpy(camera_feedback, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_CAMERA_FEEDBACK_LEN); #endif }