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Commit 1bb9b2cc authored by PX4BuildBot's avatar PX4BuildBot
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autogenerated headers for rev... 

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/56e28570a7557e62e95613d7bd13a96e8cf5e02e
parent 68f99575
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Showing with 220 additions and 111 deletions
common/mavlink_msg_att_pos_mocap.h
View file @ 1bb9b2cc
......@@ -10,39 +10,43 @@ typedef struct __mavlink_att_pos_mocap_t {
float x; /*< X position in meters (NED)*/
float y; /*< Y position in meters (NED)*/
float z; /*< Z position in meters (NED)*/
float covariance[21]; /*< Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
}) mavlink_att_pos_mocap_t;
#define MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN 36
#define MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN 120
#define MAVLINK_MSG_ID_ATT_POS_MOCAP_MIN_LEN 36
#define MAVLINK_MSG_ID_138_LEN 36
#define MAVLINK_MSG_ID_138_LEN 120
#define MAVLINK_MSG_ID_138_MIN_LEN 36
#define MAVLINK_MSG_ID_ATT_POS_MOCAP_CRC 109
#define MAVLINK_MSG_ID_138_CRC 109
#define MAVLINK_MSG_ATT_POS_MOCAP_FIELD_Q_LEN 4
#define MAVLINK_MSG_ATT_POS_MOCAP_FIELD_COVARIANCE_LEN 21
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_ATT_POS_MOCAP { \
138, \
"ATT_POS_MOCAP", \
5, \
6, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_att_pos_mocap_t, time_usec) }, \
{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_att_pos_mocap_t, q) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_att_pos_mocap_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_att_pos_mocap_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_att_pos_mocap_t, z) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 36, offsetof(mavlink_att_pos_mocap_t, covariance) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_ATT_POS_MOCAP { \
"ATT_POS_MOCAP", \
5, \
6, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_att_pos_mocap_t, time_usec) }, \
{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 8, offsetof(mavlink_att_pos_mocap_t, q) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_att_pos_mocap_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_att_pos_mocap_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_att_pos_mocap_t, z) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 36, offsetof(mavlink_att_pos_mocap_t, covariance) }, \
} \
}
#endif
......@@ -58,10 +62,11 @@ typedef struct __mavlink_att_pos_mocap_t {
* @param x X position in meters (NED)
* @param y Y position in meters (NED)
* @param z Z position in meters (NED)
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_att_pos_mocap_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t time_usec, const float *q, float x, float y, float z)
uint64_t time_usec, const float *q, float x, float y, float z, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN];
......@@ -70,6 +75,7 @@ static inline uint16_t mavlink_msg_att_pos_mocap_pack(uint8_t system_id, uint8_t
_mav_put_float(buf, 28, y);
_mav_put_float(buf, 32, z);
_mav_put_float_array(buf, 8, q, 4);
_mav_put_float_array(buf, 36, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
#else
mavlink_att_pos_mocap_t packet;
......@@ -78,6 +84,7 @@ static inline uint16_t mavlink_msg_att_pos_mocap_pack(uint8_t system_id, uint8_t
packet.y = y;
packet.z = z;
mav_array_memcpy(packet.q, q, sizeof(float)*4);
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
#endif
......@@ -96,11 +103,12 @@ static inline uint16_t mavlink_msg_att_pos_mocap_pack(uint8_t system_id, uint8_t
* @param x X position in meters (NED)
* @param y Y position in meters (NED)
* @param z Z position in meters (NED)
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_att_pos_mocap_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t time_usec,const float *q,float x,float y,float z)
uint64_t time_usec,const float *q,float x,float y,float z,const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN];
......@@ -109,6 +117,7 @@ static inline uint16_t mavlink_msg_att_pos_mocap_pack_chan(uint8_t system_id, ui
_mav_put_float(buf, 28, y);
_mav_put_float(buf, 32, z);
_mav_put_float_array(buf, 8, q, 4);
_mav_put_float_array(buf, 36, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
#else
mavlink_att_pos_mocap_t packet;
......@@ -117,6 +126,7 @@ static inline uint16_t mavlink_msg_att_pos_mocap_pack_chan(uint8_t system_id, ui
packet.y = y;
packet.z = z;
mav_array_memcpy(packet.q, q, sizeof(float)*4);
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
#endif
......@@ -134,7 +144,7 @@ static inline uint16_t mavlink_msg_att_pos_mocap_pack_chan(uint8_t system_id, ui
*/
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)
{
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);
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);
}
/**
......@@ -148,7 +158,7 @@ static inline uint16_t mavlink_msg_att_pos_mocap_encode(uint8_t system_id, uint8
*/
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)
{
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);
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);
}
/**
......@@ -160,10 +170,11 @@ static inline uint16_t mavlink_msg_att_pos_mocap_encode_chan(uint8_t system_id,
* @param x X position in meters (NED)
* @param y Y position in meters (NED)
* @param z Z position in meters (NED)
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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)
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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN];
......@@ -172,6 +183,7 @@ static inline void mavlink_msg_att_pos_mocap_send(mavlink_channel_t chan, uint64
_mav_put_float(buf, 28, y);
_mav_put_float(buf, 32, z);
_mav_put_float_array(buf, 8, q, 4);
_mav_put_float_array(buf, 36, covariance, 21);
_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);
#else
mavlink_att_pos_mocap_t packet;
......@@ -180,6 +192,7 @@ static inline void mavlink_msg_att_pos_mocap_send(mavlink_channel_t chan, uint64
packet.y = y;
packet.z = z;
mav_array_memcpy(packet.q, q, sizeof(float)*4);
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
_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);
#endif
}
......@@ -192,7 +205,7 @@ static inline void mavlink_msg_att_pos_mocap_send(mavlink_channel_t chan, uint64
static inline void mavlink_msg_att_pos_mocap_send_struct(mavlink_channel_t chan, const mavlink_att_pos_mocap_t* att_pos_mocap)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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);
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);
#else
_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);
#endif
......@@ -206,7 +219,7 @@ static inline void mavlink_msg_att_pos_mocap_send_struct(mavlink_channel_t 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_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)
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)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
......@@ -215,6 +228,7 @@ static inline void mavlink_msg_att_pos_mocap_send_buf(mavlink_message_t *msgbuf,
_mav_put_float(buf, 28, y);
_mav_put_float(buf, 32, z);
_mav_put_float_array(buf, 8, q, 4);
_mav_put_float_array(buf, 36, covariance, 21);
_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);
#else
mavlink_att_pos_mocap_t *packet = (mavlink_att_pos_mocap_t *)msgbuf;
......@@ -223,6 +237,7 @@ static inline void mavlink_msg_att_pos_mocap_send_buf(mavlink_message_t *msgbuf,
packet->y = y;
packet->z = z;
mav_array_memcpy(packet->q, q, sizeof(float)*4);
mav_array_memcpy(packet->covariance, covariance, sizeof(float)*21);
_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);
#endif
}
......@@ -283,6 +298,16 @@ static inline float mavlink_msg_att_pos_mocap_get_z(const mavlink_message_t* msg
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field covariance from att_pos_mocap message
*
* @return Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
*/
static inline uint16_t mavlink_msg_att_pos_mocap_get_covariance(const mavlink_message_t* msg, float *covariance)
{
return _MAV_RETURN_float_array(msg, covariance, 21, 36);
}
/**
* @brief Decode a att_pos_mocap message into a struct
*
......@@ -297,6 +322,7 @@ static inline void mavlink_msg_att_pos_mocap_decode(const mavlink_message_t* msg
att_pos_mocap->x = mavlink_msg_att_pos_mocap_get_x(msg);
att_pos_mocap->y = mavlink_msg_att_pos_mocap_get_y(msg);
att_pos_mocap->z = mavlink_msg_att_pos_mocap_get_z(msg);
mavlink_msg_att_pos_mocap_get_covariance(msg, att_pos_mocap->covariance);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN? msg->len : MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN;
memset(att_pos_mocap, 0, MAVLINK_MSG_ID_ATT_POS_MOCAP_LEN);
......
common/mavlink_msg_global_vision_position_estimate.h
View file @ 1bb9b2cc
......@@ -12,23 +12,24 @@ typedef struct __mavlink_global_vision_position_estimate_t {
float roll; /*< Roll angle in rad*/
float pitch; /*< Pitch angle in rad*/
float yaw; /*< Yaw angle in rad*/
float covariance[21]; /*< Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
}) mavlink_global_vision_position_estimate_t;
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 32
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 116
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN 32
#define MAVLINK_MSG_ID_101_LEN 32
#define MAVLINK_MSG_ID_101_LEN 116
#define MAVLINK_MSG_ID_101_MIN_LEN 32
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC 102
#define MAVLINK_MSG_ID_101_CRC 102
#define MAVLINK_MSG_GLOBAL_VISION_POSITION_ESTIMATE_FIELD_COVARIANCE_LEN 21
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
101, \
"GLOBAL_VISION_POSITION_ESTIMATE", \
7, \
8, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
......@@ -36,12 +37,13 @@ typedef struct __mavlink_global_vision_position_estimate_t {
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_global_vision_position_estimate_t, covariance) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
"GLOBAL_VISION_POSITION_ESTIMATE", \
7, \
8, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_global_vision_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_global_vision_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_global_vision_position_estimate_t, y) }, \
......@@ -49,6 +51,7 @@ typedef struct __mavlink_global_vision_position_estimate_t {
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_global_vision_position_estimate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_global_vision_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_global_vision_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_global_vision_position_estimate_t, covariance) }, \
} \
}
#endif
......@@ -66,10 +69,11 @@ typedef struct __mavlink_global_vision_position_estimate_t {
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
......@@ -80,7 +84,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
mavlink_global_vision_position_estimate_t packet;
......@@ -91,7 +95,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
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
......@@ -112,11 +116,12 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw,const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
......@@ -127,7 +132,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uin
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
mavlink_global_vision_position_estimate_t packet;
......@@ -138,7 +143,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uin
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
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
......@@ -156,7 +161,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uin
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_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);
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);
}
/**
......@@ -170,7 +175,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_encode(uint8_
*/
static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(uint8_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);
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);
}
/**
......@@ -184,10 +189,11 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(u
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
......@@ -198,7 +204,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_chan
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, 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
mavlink_global_vision_position_estimate_t packet;
......@@ -209,7 +215,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_chan
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
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
}
......@@ -222,7 +228,7 @@ 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);
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);
#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
......@@ -236,7 +242,7 @@ 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, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
......@@ -247,7 +253,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, 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
mavlink_global_vision_position_estimate_t *packet = (mavlink_global_vision_position_estimate_t *)msgbuf;
......@@ -258,7 +264,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
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
}
......@@ -339,6 +345,16 @@ static inline float mavlink_msg_global_vision_position_estimate_get_yaw(const ma
return _MAV_RETURN_float(msg, 28);
}
/**
* @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.)
*/
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, 32);
}
/**
* @brief Decode a global_vision_position_estimate message into a struct
*
......@@ -355,6 +371,7 @@ static inline void mavlink_msg_global_vision_position_estimate_decode(const mavl
global_vision_position_estimate->roll = mavlink_msg_global_vision_position_estimate_get_roll(msg);
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);
#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);
......
common/mavlink_msg_vicon_position_estimate.h
View file @ 1bb9b2cc
......@@ -12,23 +12,24 @@ typedef struct __mavlink_vicon_position_estimate_t {
float roll; /*< Roll angle in rad*/
float pitch; /*< Pitch angle in rad*/
float yaw; /*< Yaw angle in rad*/
float covariance[21]; /*< Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
}) mavlink_vicon_position_estimate_t;
#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 32
#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN 116
#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN 32
#define MAVLINK_MSG_ID_104_LEN 32
#define MAVLINK_MSG_ID_104_LEN 116
#define MAVLINK_MSG_ID_104_MIN_LEN 32
#define MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC 56
#define MAVLINK_MSG_ID_104_CRC 56
#define MAVLINK_MSG_VICON_POSITION_ESTIMATE_FIELD_COVARIANCE_LEN 21
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE { \
104, \
"VICON_POSITION_ESTIMATE", \
7, \
8, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \
......@@ -36,12 +37,13 @@ typedef struct __mavlink_vicon_position_estimate_t {
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_vicon_position_estimate_t, covariance) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_VICON_POSITION_ESTIMATE { \
"VICON_POSITION_ESTIMATE", \
7, \
8, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vicon_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vicon_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vicon_position_estimate_t, y) }, \
......@@ -49,6 +51,7 @@ typedef struct __mavlink_vicon_position_estimate_t {
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vicon_position_estimate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vicon_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vicon_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_vicon_position_estimate_t, covariance) }, \
} \
}
#endif
......@@ -66,10 +69,11 @@ typedef struct __mavlink_vicon_position_estimate_t {
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
......@@ -80,7 +84,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
#else
mavlink_vicon_position_estimate_t packet;
......@@ -91,7 +95,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
#endif
......@@ -112,11 +116,12 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack(uint8_t system_i
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw,const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
......@@ -127,7 +132,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t sys
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
#else
mavlink_vicon_position_estimate_t packet;
......@@ -138,7 +143,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t sys
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
#endif
......@@ -156,7 +161,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_pack_chan(uint8_t sys
*/
static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
{
return mavlink_msg_vicon_position_estimate_pack(system_id, component_id, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw);
return mavlink_msg_vicon_position_estimate_pack(system_id, component_id, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw, vicon_position_estimate->covariance);
}
/**
......@@ -170,7 +175,7 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_encode(uint8_t system
*/
static inline uint16_t mavlink_msg_vicon_position_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
{
return mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, chan, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw);
return mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, chan, msg, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw, vicon_position_estimate->covariance);
}
/**
......@@ -184,10 +189,11 @@ static inline uint16_t mavlink_msg_vicon_position_estimate_encode_chan(uint8_t s
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN];
......@@ -198,7 +204,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
#else
mavlink_vicon_position_estimate_t packet;
......@@ -209,7 +215,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
#endif
}
......@@ -222,7 +228,7 @@ static inline void mavlink_msg_vicon_position_estimate_send(mavlink_channel_t ch
static inline void mavlink_msg_vicon_position_estimate_send_struct(mavlink_channel_t chan, const mavlink_vicon_position_estimate_t* vicon_position_estimate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_vicon_position_estimate_send(chan, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw);
mavlink_msg_vicon_position_estimate_send(chan, vicon_position_estimate->usec, vicon_position_estimate->x, vicon_position_estimate->y, vicon_position_estimate->z, vicon_position_estimate->roll, vicon_position_estimate->pitch, vicon_position_estimate->yaw, vicon_position_estimate->covariance);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)vicon_position_estimate, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
#endif
......@@ -236,7 +242,7 @@ static inline void mavlink_msg_vicon_position_estimate_send_struct(mavlink_chann
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_vicon_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
static inline void mavlink_msg_vicon_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
......@@ -247,7 +253,7 @@ static inline void mavlink_msg_vicon_position_estimate_send_buf(mavlink_message_
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, buf, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
#else
mavlink_vicon_position_estimate_t *packet = (mavlink_vicon_position_estimate_t *)msgbuf;
......@@ -258,7 +264,7 @@ static inline void mavlink_msg_vicon_position_estimate_send_buf(mavlink_message_
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
mav_array_memcpy(packet->covariance, covariance, sizeof(float)*21);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_CRC);
#endif
}
......@@ -339,6 +345,16 @@ static inline float mavlink_msg_vicon_position_estimate_get_yaw(const mavlink_me
return _MAV_RETURN_float(msg, 28);
}
/**
* @brief Get field covariance from vicon_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.)
*/
static inline uint16_t mavlink_msg_vicon_position_estimate_get_covariance(const mavlink_message_t* msg, float *covariance)
{
return _MAV_RETURN_float_array(msg, covariance, 21, 32);
}
/**
* @brief Decode a vicon_position_estimate message into a struct
*
......@@ -355,6 +371,7 @@ static inline void mavlink_msg_vicon_position_estimate_decode(const mavlink_mess
vicon_position_estimate->roll = mavlink_msg_vicon_position_estimate_get_roll(msg);
vicon_position_estimate->pitch = mavlink_msg_vicon_position_estimate_get_pitch(msg);
vicon_position_estimate->yaw = mavlink_msg_vicon_position_estimate_get_yaw(msg);
mavlink_msg_vicon_position_estimate_get_covariance(msg, vicon_position_estimate->covariance);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN;
memset(vicon_position_estimate, 0, MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE_LEN);
......
common/mavlink_msg_vision_position_estimate.h
View file @ 1bb9b2cc
......@@ -12,23 +12,24 @@ typedef struct __mavlink_vision_position_estimate_t {
float roll; /*< Roll angle in rad*/
float pitch; /*< Pitch angle in rad*/
float yaw; /*< Yaw angle in rad*/
float covariance[21]; /*< Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
}) mavlink_vision_position_estimate_t;
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 32
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 116
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN 32
#define MAVLINK_MSG_ID_102_LEN 32
#define MAVLINK_MSG_ID_102_LEN 116
#define MAVLINK_MSG_ID_102_MIN_LEN 32
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC 158
#define MAVLINK_MSG_ID_102_CRC 158
#define MAVLINK_MSG_VISION_POSITION_ESTIMATE_FIELD_COVARIANCE_LEN 21
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
102, \
"VISION_POSITION_ESTIMATE", \
7, \
8, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \
......@@ -36,12 +37,13 @@ typedef struct __mavlink_vision_position_estimate_t {
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_vision_position_estimate_t, covariance) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
"VISION_POSITION_ESTIMATE", \
7, \
8, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_position_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_position_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_position_estimate_t, y) }, \
......@@ -49,6 +51,7 @@ typedef struct __mavlink_vision_position_estimate_t {
{ "roll", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_vision_position_estimate_t, roll) }, \
{ "pitch", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_vision_position_estimate_t, pitch) }, \
{ "yaw", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_vision_position_estimate_t, yaw) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 32, offsetof(mavlink_vision_position_estimate_t, covariance) }, \
} \
}
#endif
......@@ -66,10 +69,11 @@ typedef struct __mavlink_vision_position_estimate_t {
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
......@@ -80,7 +84,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
#else
mavlink_vision_position_estimate_t packet;
......@@ -91,7 +95,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
#endif
......@@ -112,11 +116,12 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw)
uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw,const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
......@@ -127,7 +132,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t sy
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
#else
mavlink_vision_position_estimate_t packet;
......@@ -138,7 +143,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t sy
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
#endif
......@@ -156,7 +161,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t sy
*/
static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_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);
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);
}
/**
......@@ -170,7 +175,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_encode(uint8_t syste
*/
static inline uint16_t mavlink_msg_vision_position_estimate_encode_chan(uint8_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);
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);
}
/**
......@@ -184,10 +189,11 @@ static inline uint16_t mavlink_msg_vision_position_estimate_encode_chan(uint8_t
* @param roll Roll angle in rad
* @param pitch Pitch angle in rad
* @param yaw Yaw angle in rad
* @param covariance Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
......@@ -198,7 +204,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, 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
mavlink_vision_position_estimate_t packet;
......@@ -209,7 +215,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
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
}
......@@ -222,7 +228,7 @@ 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);
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);
#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
......@@ -236,7 +242,7 @@ 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, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw)
static inline void mavlink_msg_vision_position_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
......@@ -247,7 +253,7 @@ static inline void mavlink_msg_vision_position_estimate_send_buf(mavlink_message
_mav_put_float(buf, 20, roll);
_mav_put_float(buf, 24, pitch);
_mav_put_float(buf, 28, yaw);
_mav_put_float_array(buf, 32, 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
mavlink_vision_position_estimate_t *packet = (mavlink_vision_position_estimate_t *)msgbuf;
......@@ -258,7 +264,7 @@ static inline void mavlink_msg_vision_position_estimate_send_buf(mavlink_message
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
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
}
......@@ -339,6 +345,16 @@ static inline float mavlink_msg_vision_position_estimate_get_yaw(const mavlink_m
return _MAV_RETURN_float(msg, 28);
}
/**
* @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.)
*/
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, 32);
}
/**
* @brief Decode a vision_position_estimate message into a struct
*
......@@ -355,6 +371,7 @@ static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_mes
vision_position_estimate->roll = mavlink_msg_vision_position_estimate_get_roll(msg);
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);
#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);
......
common/mavlink_msg_vision_speed_estimate.h
View file @ 1bb9b2cc
......@@ -9,37 +9,40 @@ typedef struct __mavlink_vision_speed_estimate_t {
float x; /*< Global X speed*/
float y; /*< Global Y speed*/
float z; /*< Global Z speed*/
float covariance[9]; /*< Linear velocity covariance matrix (1st three entries - 1st row, etc.)*/
}) mavlink_vision_speed_estimate_t;
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 20
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 56
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN 20
#define MAVLINK_MSG_ID_103_LEN 20
#define MAVLINK_MSG_ID_103_LEN 56
#define MAVLINK_MSG_ID_103_MIN_LEN 20
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC 208
#define MAVLINK_MSG_ID_103_CRC 208
#define MAVLINK_MSG_VISION_SPEED_ESTIMATE_FIELD_COVARIANCE_LEN 9
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
103, \
"VISION_SPEED_ESTIMATE", \
4, \
5, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 20, offsetof(mavlink_vision_speed_estimate_t, covariance) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
"VISION_SPEED_ESTIMATE", \
4, \
5, \
{ { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_vision_speed_estimate_t, usec) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_vision_speed_estimate_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_vision_speed_estimate_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_vision_speed_estimate_t, z) }, \
{ "covariance", NULL, MAVLINK_TYPE_FLOAT, 9, 20, offsetof(mavlink_vision_speed_estimate_t, covariance) }, \
} \
}
#endif
......@@ -54,10 +57,11 @@ typedef struct __mavlink_vision_speed_estimate_t {
* @param x Global X speed
* @param y Global Y speed
* @param z Global Z speed
* @param covariance Linear velocity covariance matrix (1st three entries - 1st row, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t usec, float x, float y, float z)
uint64_t usec, float x, float y, float z, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
......@@ -65,7 +69,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id,
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float_array(buf, 20, covariance, 9);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#else
mavlink_vision_speed_estimate_t packet;
......@@ -73,7 +77,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id,
packet.x = x;
packet.y = y;
packet.z = z;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#endif
......@@ -91,11 +95,12 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id,
* @param x Global X speed
* @param y Global Y speed
* @param z Global Z speed
* @param covariance Linear velocity covariance matrix (1st three entries - 1st row, etc.)
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t usec,float x,float y,float z)
uint64_t usec,float x,float y,float z,const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
......@@ -103,7 +108,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t syste
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float_array(buf, 20, covariance, 9);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#else
mavlink_vision_speed_estimate_t packet;
......@@ -111,7 +116,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t syste
packet.x = x;
packet.y = y;
packet.z = z;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#endif
......@@ -129,7 +134,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t syste
*/
static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
{
return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
return mavlink_msg_vision_speed_estimate_pack(system_id, component_id, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z, vision_speed_estimate->covariance);
}
/**
......@@ -143,7 +148,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_encode(uint8_t system_i
*/
static inline uint16_t mavlink_msg_vision_speed_estimate_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
{
return mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, chan, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
return mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, chan, msg, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z, vision_speed_estimate->covariance);
}
/**
......@@ -154,10 +159,11 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_encode_chan(uint8_t sys
* @param x Global X speed
* @param y Global Y speed
* @param z Global Z speed
* @param covariance Linear velocity covariance matrix (1st three entries - 1st row, etc.)
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan, uint64_t usec, float x, float y, float z, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
......@@ -165,7 +171,7 @@ static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float_array(buf, 20, covariance, 9);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
#else
mavlink_vision_speed_estimate_t packet;
......@@ -173,7 +179,7 @@ static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan
packet.x = x;
packet.y = y;
packet.z = z;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)&packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
#endif
}
......@@ -186,7 +192,7 @@ static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan
static inline void mavlink_msg_vision_speed_estimate_send_struct(mavlink_channel_t chan, const mavlink_vision_speed_estimate_t* vision_speed_estimate)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_vision_speed_estimate_send(chan, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z);
mavlink_msg_vision_speed_estimate_send(chan, vision_speed_estimate->usec, vision_speed_estimate->x, vision_speed_estimate->y, vision_speed_estimate->z, vision_speed_estimate->covariance);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)vision_speed_estimate, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
#endif
......@@ -200,7 +206,7 @@ static inline void mavlink_msg_vision_speed_estimate_send_struct(mavlink_channel
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_speed_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z)
static inline void mavlink_msg_vision_speed_estimate_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t usec, float x, float y, float z, const float *covariance)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
......@@ -208,7 +214,7 @@ static inline void mavlink_msg_vision_speed_estimate_send_buf(mavlink_message_t
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float_array(buf, 20, covariance, 9);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
#else
mavlink_vision_speed_estimate_t *packet = (mavlink_vision_speed_estimate_t *)msgbuf;
......@@ -216,7 +222,7 @@ static inline void mavlink_msg_vision_speed_estimate_send_buf(mavlink_message_t
packet->x = x;
packet->y = y;
packet->z = z;
mav_array_memcpy(packet->covariance, covariance, sizeof(float)*9);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE, (const char *)packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC);
#endif
}
......@@ -267,6 +273,16 @@ static inline float mavlink_msg_vision_speed_estimate_get_z(const mavlink_messag
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field covariance from vision_speed_estimate message
*
* @return Linear velocity covariance matrix (1st three entries - 1st row, etc.)
*/
static inline uint16_t mavlink_msg_vision_speed_estimate_get_covariance(const mavlink_message_t* msg, float *covariance)
{
return _MAV_RETURN_float_array(msg, covariance, 9, 20);
}
/**
* @brief Decode a vision_speed_estimate message into a struct
*
......@@ -280,6 +296,7 @@ static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_messag
vision_speed_estimate->x = mavlink_msg_vision_speed_estimate_get_x(msg);
vision_speed_estimate->y = mavlink_msg_vision_speed_estimate_get_y(msg);
vision_speed_estimate->z = mavlink_msg_vision_speed_estimate_get_z(msg);
mavlink_msg_vision_speed_estimate_get_covariance(msg, vision_speed_estimate->covariance);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN? msg->len : MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN;
memset(vision_speed_estimate, 0, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
......
common/testsuite.h
View file @ 1bb9b2cc
......@@ -4240,7 +4240,7 @@ static void mavlink_test_global_vision_position_estimate(uint8_t system_id, uint
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_global_vision_position_estimate_t packet_in = {
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,{ 241.0, 242.0, 243.0, 244.0, 245.0, 246.0, 247.0, 248.0, 249.0, 250.0, 251.0, 252.0, 253.0, 254.0, 255.0, 256.0, 257.0, 258.0, 259.0, 260.0, 261.0 }
};
mavlink_global_vision_position_estimate_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
......@@ -4252,6 +4252,7 @@ static void mavlink_test_global_vision_position_estimate(uint8_t system_id, uint
packet1.pitch = packet_in.pitch;
packet1.yaw = packet_in.yaw;
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*21);
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
......@@ -4265,12 +4266,12 @@ static void mavlink_test_global_vision_position_estimate(uint8_t system_id, uint
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw , packet1.covariance );
mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw , packet1.covariance );
mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
......@@ -4283,7 +4284,7 @@ static void mavlink_test_global_vision_position_estimate(uint8_t system_id, uint
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_global_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
mavlink_msg_global_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw , packet1.covariance );
mavlink_msg_global_vision_position_estimate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
......@@ -4300,7 +4301,7 @@ static void mavlink_test_vision_position_estimate(uint8_t system_id, uint8_t com
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_vision_position_estimate_t packet_in = {
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,{ 241.0, 242.0, 243.0, 244.0, 245.0, 246.0, 247.0, 248.0, 249.0, 250.0, 251.0, 252.0, 253.0, 254.0, 255.0, 256.0, 257.0, 258.0, 259.0, 260.0, 261.0 }
};
mavlink_vision_position_estimate_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
......@@ -4312,6 +4313,7 @@ static void mavlink_test_vision_position_estimate(uint8_t system_id, uint8_t com
packet1.pitch = packet_in.pitch;
packet1.yaw = packet_in.yaw;
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*21);
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
......@@ -4325,12 +4327,12 @@ static void mavlink_test_vision_position_estimate(uint8_t system_id, uint8_t com
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
mavlink_msg_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw , packet1.covariance );
mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw , packet1.covariance );
mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
......@@ -4343,7 +4345,7 @@ static void mavlink_test_vision_position_estimate(uint8_t system_id, uint8_t com
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
mavlink_msg_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw , packet1.covariance );
mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
......@@ -4360,7 +4362,7 @@ static void mavlink_test_vision_speed_estimate(uint8_t system_id, uint8_t compon
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_vision_speed_estimate_t packet_in = {
93372036854775807ULL,73.0,101.0,129.0
93372036854775807ULL,73.0,101.0,129.0,{ 157.0, 158.0, 159.0, 160.0, 161.0, 162.0, 163.0, 164.0, 165.0 }
};
mavlink_vision_speed_estimate_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
......@@ -4369,6 +4371,7 @@ static void mavlink_test_vision_speed_estimate(uint8_t system_id, uint8_t compon
packet1.y = packet_in.y;
packet1.z = packet_in.z;
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*9);
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
......@@ -4382,12 +4385,12 @@ static void mavlink_test_vision_speed_estimate(uint8_t system_id, uint8_t compon
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_vision_speed_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
mavlink_msg_vision_speed_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.covariance );
mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.covariance );
mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
......@@ -4400,7 +4403,7 @@ static void mavlink_test_vision_speed_estimate(uint8_t system_id, uint8_t compon
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_vision_speed_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z );
mavlink_msg_vision_speed_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.covariance );
mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
......@@ -4417,7 +4420,7 @@ static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t comp
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_vicon_position_estimate_t packet_in = {
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,{ 241.0, 242.0, 243.0, 244.0, 245.0, 246.0, 247.0, 248.0, 249.0, 250.0, 251.0, 252.0, 253.0, 254.0, 255.0, 256.0, 257.0, 258.0, 259.0, 260.0, 261.0 }
};
mavlink_vicon_position_estimate_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
......@@ -4429,6 +4432,7 @@ static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t comp
packet1.pitch = packet_in.pitch;
packet1.yaw = packet_in.yaw;
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*21);
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
......@@ -4442,12 +4446,12 @@ static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t comp
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_vicon_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
mavlink_msg_vicon_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw , packet1.covariance );
mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw , packet1.covariance );
mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
......@@ -4460,7 +4464,7 @@ static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t comp
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw , packet1.covariance );
mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
......@@ -6477,7 +6481,7 @@ static void mavlink_test_att_pos_mocap(uint8_t system_id, uint8_t component_id,
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_att_pos_mocap_t packet_in = {
93372036854775807ULL,{ 73.0, 74.0, 75.0, 76.0 },185.0,213.0,241.0
93372036854775807ULL,{ 73.0, 74.0, 75.0, 76.0 },185.0,213.0,241.0,{ 269.0, 270.0, 271.0, 272.0, 273.0, 274.0, 275.0, 276.0, 277.0, 278.0, 279.0, 280.0, 281.0, 282.0, 283.0, 284.0, 285.0, 286.0, 287.0, 288.0, 289.0 }
};
mavlink_att_pos_mocap_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
......@@ -6487,6 +6491,7 @@ static void mavlink_test_att_pos_mocap(uint8_t system_id, uint8_t component_id,
packet1.z = packet_in.z;
mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4);
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*21);
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
......@@ -6500,12 +6505,12 @@ static void mavlink_test_att_pos_mocap(uint8_t system_id, uint8_t component_id,
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_att_pos_mocap_pack(system_id, component_id, &msg , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z );
mavlink_msg_att_pos_mocap_pack(system_id, component_id, &msg , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z , packet1.covariance );
mavlink_msg_att_pos_mocap_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_att_pos_mocap_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z );
mavlink_msg_att_pos_mocap_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z , packet1.covariance );
mavlink_msg_att_pos_mocap_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
......@@ -6518,7 +6523,7 @@ static void mavlink_test_att_pos_mocap(uint8_t system_id, uint8_t component_id,
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_att_pos_mocap_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z );
mavlink_msg_att_pos_mocap_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z , packet1.covariance );
mavlink_msg_att_pos_mocap_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
......
message_definitions/common.xml
View file @ 1bb9b2cc
......@@ -3671,6 +3671,8 @@
<field type="float" name="roll" units="rad">Roll angle in rad</field>
<field type="float" name="pitch" units="rad">Pitch angle in rad</field>
<field type="float" name="yaw" units="rad">Yaw angle in rad</field>
<extensions/>
<field type="float[21]" name="covariance">Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
<message id="102" name="VISION_POSITION_ESTIMATE">
<field type="uint64_t" name="usec" units="us">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
......@@ -3680,12 +3682,16 @@
<field type="float" name="roll" units="rad">Roll angle in rad</field>
<field type="float" name="pitch" units="rad">Pitch angle in rad</field>
<field type="float" name="yaw" units="rad">Yaw angle in rad</field>
<extensions/>
<field type="float[21]" name="covariance">Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
<message id="103" name="VISION_SPEED_ESTIMATE">
<field type="uint64_t" name="usec" units="us">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
<field type="float" name="x" units="m/s">Global X speed</field>
<field type="float" name="y" units="m/s">Global Y speed</field>
<field type="float" name="z" units="m/s">Global Z speed</field>
<extensions/>
<field type="float[9]" name="covariance">Linear velocity covariance matrix (1st three entries - 1st row, etc.)</field>
</message>
<message id="104" name="VICON_POSITION_ESTIMATE">
<field type="uint64_t" name="usec" units="us">Timestamp (microseconds, synced to UNIX time or since system boot)</field>
......@@ -3695,6 +3701,8 @@
<field type="float" name="roll" units="rad">Roll angle in rad</field>
<field type="float" name="pitch" units="rad">Pitch angle in rad</field>
<field type="float" name="yaw" units="rad">Yaw angle in rad</field>
<extensions/>
<field type="float[21]" name="covariance">Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
<message id="105" name="HIGHRES_IMU">
<description>The IMU readings in SI units in NED body frame</description>
......@@ -4051,6 +4059,8 @@
<field type="float" name="x" units="m">X position in meters (NED)</field>
<field type="float" name="y" units="m">Y position in meters (NED)</field>
<field type="float" name="z" units="m">Z position in meters (NED)</field>
<extensions/>
<field type="float[21]" name="covariance">Pose covariance matrix upper right triangular (first six entries are the first ROW, next five entries are the second ROW, etc.)</field>
</message>
<message id="139" name="SET_ACTUATOR_CONTROL_TARGET">
<description>Set the vehicle attitude and body angular rates.</description>
......
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