#pragma once // MESSAGE OBSTACLE_DISTANCE_3D PACKING #define MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D 11037 typedef struct __mavlink_obstacle_distance_3d_t { uint32_t time_boot_ms; /*< [ms] Timestamp (time since system boot).*/ float x; /*< [m] X position of the obstacle.*/ float y; /*< [m] Y position of the obstacle.*/ float z; /*< [m] Z position of the obstacle.*/ float min_distance; /*< [m] Minimum distance the sensor can measure.*/ float max_distance; /*< [m] Maximum distance the sensor can measure.*/ uint16_t obstacle_id; /*< Unique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined.*/ uint8_t sensor_type; /*< Class id of the distance sensor type.*/ uint8_t frame; /*< Coordinate frame of reference.*/ } mavlink_obstacle_distance_3d_t; #define MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN 28 #define MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_MIN_LEN 28 #define MAVLINK_MSG_ID_11037_LEN 28 #define MAVLINK_MSG_ID_11037_MIN_LEN 28 #define MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_CRC 130 #define MAVLINK_MSG_ID_11037_CRC 130 #if MAVLINK_COMMAND_24BIT #define MAVLINK_MESSAGE_INFO_OBSTACLE_DISTANCE_3D { \ 11037, \ "OBSTACLE_DISTANCE_3D", \ 9, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_obstacle_distance_3d_t, time_boot_ms) }, \ { "sensor_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_obstacle_distance_3d_t, sensor_type) }, \ { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_obstacle_distance_3d_t, frame) }, \ { "obstacle_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_obstacle_distance_3d_t, obstacle_id) }, \ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_obstacle_distance_3d_t, x) }, \ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_obstacle_distance_3d_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_obstacle_distance_3d_t, z) }, \ { "min_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_obstacle_distance_3d_t, min_distance) }, \ { "max_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_obstacle_distance_3d_t, max_distance) }, \ } \ } #else #define MAVLINK_MESSAGE_INFO_OBSTACLE_DISTANCE_3D { \ "OBSTACLE_DISTANCE_3D", \ 9, \ { { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_obstacle_distance_3d_t, time_boot_ms) }, \ { "sensor_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 26, offsetof(mavlink_obstacle_distance_3d_t, sensor_type) }, \ { "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 27, offsetof(mavlink_obstacle_distance_3d_t, frame) }, \ { "obstacle_id", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_obstacle_distance_3d_t, obstacle_id) }, \ { "x", NULL, MAVLINK_TYPE_FLOAT, 0, 4, offsetof(mavlink_obstacle_distance_3d_t, x) }, \ { "y", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_obstacle_distance_3d_t, y) }, \ { "z", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_obstacle_distance_3d_t, z) }, \ { "min_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_obstacle_distance_3d_t, min_distance) }, \ { "max_distance", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_obstacle_distance_3d_t, max_distance) }, \ } \ } #endif /** * @brief Pack a obstacle_distance_3d 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_boot_ms [ms] Timestamp (time since system boot). * @param sensor_type Class id of the distance sensor type. * @param frame Coordinate frame of reference. * @param obstacle_id Unique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined. * @param x [m] X position of the obstacle. * @param y [m] Y position of the obstacle. * @param z [m] Z position of the obstacle. * @param min_distance [m] Minimum distance the sensor can measure. * @param max_distance [m] Maximum distance the sensor can measure. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_obstacle_distance_3d_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint32_t time_boot_ms, uint8_t sensor_type, uint8_t frame, uint16_t obstacle_id, float x, float y, float z, float min_distance, float max_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, min_distance); _mav_put_float(buf, 20, max_distance); _mav_put_uint16_t(buf, 24, obstacle_id); _mav_put_uint8_t(buf, 26, sensor_type); _mav_put_uint8_t(buf, 27, frame); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN); #else mavlink_obstacle_distance_3d_t packet; packet.time_boot_ms = time_boot_ms; packet.x = x; packet.y = y; packet.z = z; packet.min_distance = min_distance; packet.max_distance = max_distance; packet.obstacle_id = obstacle_id; packet.sensor_type = sensor_type; packet.frame = frame; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN); #endif msg->msgid = MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D; return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_CRC); } /** * @brief Pack a obstacle_distance_3d 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_boot_ms [ms] Timestamp (time since system boot). * @param sensor_type Class id of the distance sensor type. * @param frame Coordinate frame of reference. * @param obstacle_id Unique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined. * @param x [m] X position of the obstacle. * @param y [m] Y position of the obstacle. * @param z [m] Z position of the obstacle. * @param min_distance [m] Minimum distance the sensor can measure. * @param max_distance [m] Maximum distance the sensor can measure. * @return length of the message in bytes (excluding serial stream start sign) */ static inline uint16_t mavlink_msg_obstacle_distance_3d_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, uint32_t time_boot_ms,uint8_t sensor_type,uint8_t frame,uint16_t obstacle_id,float x,float y,float z,float min_distance,float max_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, min_distance); _mav_put_float(buf, 20, max_distance); _mav_put_uint16_t(buf, 24, obstacle_id); _mav_put_uint8_t(buf, 26, sensor_type); _mav_put_uint8_t(buf, 27, frame); memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN); #else mavlink_obstacle_distance_3d_t packet; packet.time_boot_ms = time_boot_ms; packet.x = x; packet.y = y; packet.z = z; packet.min_distance = min_distance; packet.max_distance = max_distance; packet.obstacle_id = obstacle_id; packet.sensor_type = sensor_type; packet.frame = frame; memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN); #endif msg->msgid = MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D; return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_CRC); } /** * @brief Encode a obstacle_distance_3d 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 obstacle_distance_3d C-struct to read the message contents from */ static inline uint16_t mavlink_msg_obstacle_distance_3d_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_obstacle_distance_3d_t* obstacle_distance_3d) { return mavlink_msg_obstacle_distance_3d_pack(system_id, component_id, msg, obstacle_distance_3d->time_boot_ms, obstacle_distance_3d->sensor_type, obstacle_distance_3d->frame, obstacle_distance_3d->obstacle_id, obstacle_distance_3d->x, obstacle_distance_3d->y, obstacle_distance_3d->z, obstacle_distance_3d->min_distance, obstacle_distance_3d->max_distance); } /** * @brief Encode a obstacle_distance_3d 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 obstacle_distance_3d C-struct to read the message contents from */ static inline uint16_t mavlink_msg_obstacle_distance_3d_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_obstacle_distance_3d_t* obstacle_distance_3d) { return mavlink_msg_obstacle_distance_3d_pack_chan(system_id, component_id, chan, msg, obstacle_distance_3d->time_boot_ms, obstacle_distance_3d->sensor_type, obstacle_distance_3d->frame, obstacle_distance_3d->obstacle_id, obstacle_distance_3d->x, obstacle_distance_3d->y, obstacle_distance_3d->z, obstacle_distance_3d->min_distance, obstacle_distance_3d->max_distance); } /** * @brief Send a obstacle_distance_3d message * @param chan MAVLink channel to send the message * * @param time_boot_ms [ms] Timestamp (time since system boot). * @param sensor_type Class id of the distance sensor type. * @param frame Coordinate frame of reference. * @param obstacle_id Unique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined. * @param x [m] X position of the obstacle. * @param y [m] Y position of the obstacle. * @param z [m] Z position of the obstacle. * @param min_distance [m] Minimum distance the sensor can measure. * @param max_distance [m] Maximum distance the sensor can measure. */ #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS static inline void mavlink_msg_obstacle_distance_3d_send(mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t sensor_type, uint8_t frame, uint16_t obstacle_id, float x, float y, float z, float min_distance, float max_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char buf[MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN]; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, min_distance); _mav_put_float(buf, 20, max_distance); _mav_put_uint16_t(buf, 24, obstacle_id); _mav_put_uint8_t(buf, 26, sensor_type); _mav_put_uint8_t(buf, 27, frame); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D, buf, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_CRC); #else mavlink_obstacle_distance_3d_t packet; packet.time_boot_ms = time_boot_ms; packet.x = x; packet.y = y; packet.z = z; packet.min_distance = min_distance; packet.max_distance = max_distance; packet.obstacle_id = obstacle_id; packet.sensor_type = sensor_type; packet.frame = frame; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D, (const char *)&packet, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_CRC); #endif } /** * @brief Send a obstacle_distance_3d message * @param chan MAVLink channel to send the message * @param struct The MAVLink struct to serialize */ static inline void mavlink_msg_obstacle_distance_3d_send_struct(mavlink_channel_t chan, const mavlink_obstacle_distance_3d_t* obstacle_distance_3d) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS mavlink_msg_obstacle_distance_3d_send(chan, obstacle_distance_3d->time_boot_ms, obstacle_distance_3d->sensor_type, obstacle_distance_3d->frame, obstacle_distance_3d->obstacle_id, obstacle_distance_3d->x, obstacle_distance_3d->y, obstacle_distance_3d->z, obstacle_distance_3d->min_distance, obstacle_distance_3d->max_distance); #else _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D, (const char *)obstacle_distance_3d, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_CRC); #endif } #if MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN <= MAVLINK_MAX_PAYLOAD_LEN /* This variant 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_obstacle_distance_3d_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint32_t time_boot_ms, uint8_t sensor_type, uint8_t frame, uint16_t obstacle_id, float x, float y, float z, float min_distance, float max_distance) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS char *buf = (char *)msgbuf; _mav_put_uint32_t(buf, 0, time_boot_ms); _mav_put_float(buf, 4, x); _mav_put_float(buf, 8, y); _mav_put_float(buf, 12, z); _mav_put_float(buf, 16, min_distance); _mav_put_float(buf, 20, max_distance); _mav_put_uint16_t(buf, 24, obstacle_id); _mav_put_uint8_t(buf, 26, sensor_type); _mav_put_uint8_t(buf, 27, frame); _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D, buf, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_CRC); #else mavlink_obstacle_distance_3d_t *packet = (mavlink_obstacle_distance_3d_t *)msgbuf; packet->time_boot_ms = time_boot_ms; packet->x = x; packet->y = y; packet->z = z; packet->min_distance = min_distance; packet->max_distance = max_distance; packet->obstacle_id = obstacle_id; packet->sensor_type = sensor_type; packet->frame = frame; _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D, (const char *)packet, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_MIN_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_CRC); #endif } #endif #endif // MESSAGE OBSTACLE_DISTANCE_3D UNPACKING /** * @brief Get field time_boot_ms from obstacle_distance_3d message * * @return [ms] Timestamp (time since system boot). */ static inline uint32_t mavlink_msg_obstacle_distance_3d_get_time_boot_ms(const mavlink_message_t* msg) { return _MAV_RETURN_uint32_t(msg, 0); } /** * @brief Get field sensor_type from obstacle_distance_3d message * * @return Class id of the distance sensor type. */ static inline uint8_t mavlink_msg_obstacle_distance_3d_get_sensor_type(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 26); } /** * @brief Get field frame from obstacle_distance_3d message * * @return Coordinate frame of reference. */ static inline uint8_t mavlink_msg_obstacle_distance_3d_get_frame(const mavlink_message_t* msg) { return _MAV_RETURN_uint8_t(msg, 27); } /** * @brief Get field obstacle_id from obstacle_distance_3d message * * @return Unique ID given to each obstacle so that its movement can be tracked. Use UINT16_MAX if object ID is unknown or cannot be determined. */ static inline uint16_t mavlink_msg_obstacle_distance_3d_get_obstacle_id(const mavlink_message_t* msg) { return _MAV_RETURN_uint16_t(msg, 24); } /** * @brief Get field x from obstacle_distance_3d message * * @return [m] X position of the obstacle. */ static inline float mavlink_msg_obstacle_distance_3d_get_x(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 4); } /** * @brief Get field y from obstacle_distance_3d message * * @return [m] Y position of the obstacle. */ static inline float mavlink_msg_obstacle_distance_3d_get_y(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 8); } /** * @brief Get field z from obstacle_distance_3d message * * @return [m] Z position of the obstacle. */ static inline float mavlink_msg_obstacle_distance_3d_get_z(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 12); } /** * @brief Get field min_distance from obstacle_distance_3d message * * @return [m] Minimum distance the sensor can measure. */ static inline float mavlink_msg_obstacle_distance_3d_get_min_distance(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 16); } /** * @brief Get field max_distance from obstacle_distance_3d message * * @return [m] Maximum distance the sensor can measure. */ static inline float mavlink_msg_obstacle_distance_3d_get_max_distance(const mavlink_message_t* msg) { return _MAV_RETURN_float(msg, 20); } /** * @brief Decode a obstacle_distance_3d message into a struct * * @param msg The message to decode * @param obstacle_distance_3d C-struct to decode the message contents into */ static inline void mavlink_msg_obstacle_distance_3d_decode(const mavlink_message_t* msg, mavlink_obstacle_distance_3d_t* obstacle_distance_3d) { #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS obstacle_distance_3d->time_boot_ms = mavlink_msg_obstacle_distance_3d_get_time_boot_ms(msg); obstacle_distance_3d->x = mavlink_msg_obstacle_distance_3d_get_x(msg); obstacle_distance_3d->y = mavlink_msg_obstacle_distance_3d_get_y(msg); obstacle_distance_3d->z = mavlink_msg_obstacle_distance_3d_get_z(msg); obstacle_distance_3d->min_distance = mavlink_msg_obstacle_distance_3d_get_min_distance(msg); obstacle_distance_3d->max_distance = mavlink_msg_obstacle_distance_3d_get_max_distance(msg); obstacle_distance_3d->obstacle_id = mavlink_msg_obstacle_distance_3d_get_obstacle_id(msg); obstacle_distance_3d->sensor_type = mavlink_msg_obstacle_distance_3d_get_sensor_type(msg); obstacle_distance_3d->frame = mavlink_msg_obstacle_distance_3d_get_frame(msg); #else uint8_t len = msg->len < MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN? msg->len : MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN; memset(obstacle_distance_3d, 0, MAVLINK_MSG_ID_OBSTACLE_DISTANCE_3D_LEN); memcpy(obstacle_distance_3d, _MAV_PAYLOAD(msg), len); #endif }