#pragma once
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// MESSAGE ATT_POS_MOCAP PACKING
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#define MAVLINK_MSG_ID_ATT_POS_MOCAP 138
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typedef struct __mavlink_att_pos_mocap_t {
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uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
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float q[4]; /*< Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
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float x; /*< [m] X position (NED)*/
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float y; /*< [m] Y position (NED)*/
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float z; /*< [m] Z position (NED)*/
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float covariance[21]; /*< Row-major representation of a 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.*/
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} mavlink_att_pos_mocap_t;
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#define MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN 120
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#define MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN 36
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#define MAVLINK_MSG_ID_138_LEN 120
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#define MAVLINK_MSG_ID_138_MIN_LEN 36
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#define MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC 109
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#define MAVLINK_MSG_ID_138_CRC 109
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#define MAVLINK_MSG_ATT_POS_MOCAP_FIELD_Q_LEN 4
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#define MAVLINK_MSG_ATT_POS_MOCAP_FIELD_COVARIANCE_LEN 21
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_ATT_POS_MOCAP { \
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138, \
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"ATT_POS_MOCAP", \
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6, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_att_pos_mocap_t, time_usec) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_att_pos_mocap_t, q) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_att_pos_mocap_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_att_pos_mocap_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_att_pos_mocap_t, z) }, \
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{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 36, offsetof(mavlink_att_pos_mocap_t, covariance) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_ATT_POS_MOCAP { \
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"ATT_POS_MOCAP", \
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6, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_att_pos_mocap_t, time_usec) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_att_pos_mocap_t, q) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_att_pos_mocap_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_att_pos_mocap_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_att_pos_mocap_t, z) }, \
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{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 36, offsetof(mavlink_att_pos_mocap_t, covariance) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a att_pos_mocap 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 [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
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* @param x [m] X position (NED)
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* @param y [m] Y position (NED)
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* @param z [m] Z position (NED)
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* @param covariance Row-major representation of a 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.
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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_att_pos_mocap_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, const float *q, float x, float y, float z, const float *covariance)
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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_ATT_POS_MOCAP_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 24, x);
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_mav_put_float(buf, 28, y);
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_mav_put_float(buf, 32, z);
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_mav_put_float_array(buf, 8, q, 4);
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_mav_put_float_array(buf, 36, covariance, 21);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
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#else
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mavlink_att_pos_mocap_t packet;
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packet.time_usec = time_usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ATT_POS_MOCAP;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
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}
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/**
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* @brief Pack a att_pos_mocap 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 [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
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* @param x [m] X position (NED)
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* @param y [m] Y position (NED)
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* @param z [m] Z position (NED)
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* @param covariance Row-major representation of a 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.
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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_att_pos_mocap_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,const float *q,float x,float y,float z,const float *covariance)
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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_ATT_POS_MOCAP_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 24, x);
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_mav_put_float(buf, 28, y);
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_mav_put_float(buf, 32, z);
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_mav_put_float_array(buf, 8, q, 4);
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_mav_put_float_array(buf, 36, covariance, 21);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
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#else
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mavlink_att_pos_mocap_t packet;
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packet.time_usec = time_usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ATT_POS_MOCAP;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
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}
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/**
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* @brief Encode a att_pos_mocap 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 att_pos_mocap C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_att_pos_mocap_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_att_pos_mocap_t* att_pos_mocap)
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{
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return mavlink_msg_att_pos_mocap_pack(system_id, component_id, msg, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z, att_pos_mocap->covariance);
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}
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/**
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* @brief Encode a att_pos_mocap 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 att_pos_mocap C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_att_pos_mocap_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_att_pos_mocap_t* att_pos_mocap)
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{
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return mavlink_msg_att_pos_mocap_pack_chan(system_id, component_id, chan, msg, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z, att_pos_mocap->covariance);
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}
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/**
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* @brief Send a att_pos_mocap message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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* @param q Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
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* @param x [m] X position (NED)
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* @param y [m] Y position (NED)
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* @param z [m] Z position (NED)
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* @param covariance Row-major representation of a 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.
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_att_pos_mocap_send(mavlink_channel_t chan, uint64_t time_usec, const float *q, float x, float y, float z, const float *covariance)
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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_ATT_POS_MOCAP_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 24, x);
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_mav_put_float(buf, 28, y);
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_mav_put_float(buf, 32, z);
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_mav_put_float_array(buf, 8, q, 4);
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_mav_put_float_array(buf, 36, covariance, 21);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
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#else
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mavlink_att_pos_mocap_t packet;
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packet.time_usec = time_usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)&packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
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#endif
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}
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/**
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* @brief Send a att_pos_mocap 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_att_pos_mocap_send_struct(mavlink_channel_t chan, const mavlink_att_pos_mocap_t* att_pos_mocap)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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mavlink_msg_att_pos_mocap_send(chan, att_pos_mocap->time_usec, att_pos_mocap->q, att_pos_mocap->x, att_pos_mocap->y, att_pos_mocap->z, att_pos_mocap->covariance);
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#else
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)att_pos_mocap, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
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#endif
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}
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#if MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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/*
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This variant 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_att_pos_mocap_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, const float *q, float x, float y, float z, const float *covariance)
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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_float(buf, 24, x);
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_mav_put_float(buf, 28, y);
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_mav_put_float(buf, 32, z);
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_mav_put_float_array(buf, 8, q, 4);
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_mav_put_float_array(buf, 36, covariance, 21);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC);
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#else
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mavlink_att_pos_mocap_t *packet = (mavlink_att_pos_mocap_t *)msgbuf;
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packet->time_usec = time_usec;
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packet->x = x;
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packet->y = y;
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packet->z = z;
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mav_array_memcpy(packet->q, q, sizeof(float)*4);
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mav_array_memcpy(packet->covariance, covariance, sizeof(float)*21);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ATT_POS_MOCAP, (const char *)packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN, MAVLINK_MSG_ID_ATT_POS_MOCAP_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 ATT_POS_MOCAP UNPACKING
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/**
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* @brief Get field time_usec from att_pos_mocap message
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*
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* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
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*/
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static inline uint64_t mavlink_msg_att_pos_mocap_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 q from att_pos_mocap message
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*
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* @return Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
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*/
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static inline uint16_t mavlink_msg_att_pos_mocap_get_q(const mavlink_message_t* msg, float *q)
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{
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return _MAV_RETURN_float_array(msg, q, 4, 8);
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}
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/**
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* @brief Get field x from att_pos_mocap message
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*
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* @return [m] X position (NED)
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*/
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static inline float mavlink_msg_att_pos_mocap_get_x(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 24);
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}
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/**
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* @brief Get field y from att_pos_mocap message
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*
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* @return [m] Y position (NED)
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*/
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static inline float mavlink_msg_att_pos_mocap_get_y(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 28);
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}
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/**
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* @brief Get field z from att_pos_mocap message
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*
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* @return [m] Z position (NED)
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*/
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static inline float mavlink_msg_att_pos_mocap_get_z(const mavlink_message_t* msg)
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{
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return _MAV_RETURN_float(msg, 32);
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}
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/**
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* @brief Get field covariance from att_pos_mocap message
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*
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* @return Row-major representation of a 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.
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*/
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static inline uint16_t mavlink_msg_att_pos_mocap_get_covariance(const mavlink_message_t* msg, float *covariance)
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{
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return _MAV_RETURN_float_array(msg, covariance, 21, 36);
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}
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/**
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* @brief Decode a att_pos_mocap message into a struct
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*
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* @param msg The message to decode
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* @param att_pos_mocap C-struct to decode the message contents into
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*/
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static inline void mavlink_msg_att_pos_mocap_decode(const mavlink_message_t* msg, mavlink_att_pos_mocap_t* att_pos_mocap)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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att_pos_mocap->time_usec = mavlink_msg_att_pos_mocap_get_time_usec(msg);
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mavlink_msg_att_pos_mocap_get_q(msg, att_pos_mocap->q);
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att_pos_mocap->x = mavlink_msg_att_pos_mocap_get_x(msg);
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att_pos_mocap->y = mavlink_msg_att_pos_mocap_get_y(msg);
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att_pos_mocap->z = mavlink_msg_att_pos_mocap_get_z(msg);
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mavlink_msg_att_pos_mocap_get_covariance(msg, att_pos_mocap->covariance);
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#else
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uint8_t len = msg->len < MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN? msg->len : MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN;
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memset(att_pos_mocap, 0, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
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memcpy(att_pos_mocap, _MAV_PAYLOAD(msg), len);
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#endif
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}
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