添加MAVLINK协议库
This commit is contained in:
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#pragma once
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// MESSAGE ODOMETRY PACKING
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#define MAVLINK_MSG_ID_ODOMETRY 331
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MAVPACKED(
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typedef struct __mavlink_odometry_t {
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uint64_t time_usec; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.*/
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float x; /*< [m] X Position*/
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float y; /*< [m] Y Position*/
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float z; /*< [m] Z Position*/
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float q[4]; /*< Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)*/
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float vx; /*< [m/s] X linear speed*/
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float vy; /*< [m/s] Y linear speed*/
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float vz; /*< [m/s] Z linear speed*/
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float rollspeed; /*< [rad/s] Roll angular speed*/
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float pitchspeed; /*< [rad/s] Pitch angular speed*/
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float yawspeed; /*< [rad/s] Yaw angular speed*/
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float pose_covariance[21]; /*< Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
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float twist_covariance[21]; /*< Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)*/
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uint8_t frame_id; /*< Coordinate frame of reference for the pose data.*/
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uint8_t child_frame_id; /*< Coordinate frame of reference for the velocity in free space (twist) data.*/
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}) mavlink_odometry_t;
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#define MAVLINK_MSG_ID_ODOMETRY_LEN 230
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#define MAVLINK_MSG_ID_ODOMETRY_MIN_LEN 230
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#define MAVLINK_MSG_ID_331_LEN 230
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#define MAVLINK_MSG_ID_331_MIN_LEN 230
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#define MAVLINK_MSG_ID_ODOMETRY_CRC 58
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#define MAVLINK_MSG_ID_331_CRC 58
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#define MAVLINK_MSG_ODOMETRY_FIELD_Q_LEN 4
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#define MAVLINK_MSG_ODOMETRY_FIELD_POSE_COVARIANCE_LEN 21
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#define MAVLINK_MSG_ODOMETRY_FIELD_TWIST_COVARIANCE_LEN 21
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#if MAVLINK_COMMAND_24BIT
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#define MAVLINK_MESSAGE_INFO_ODOMETRY { \
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331, \
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"ODOMETRY", \
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15, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_odometry_t, time_usec) }, \
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{ "frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 228, offsetof(mavlink_odometry_t, frame_id) }, \
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{ "child_frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 229, offsetof(mavlink_odometry_t, child_frame_id) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_odometry_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_odometry_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_odometry_t, z) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 20, offsetof(mavlink_odometry_t, q) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_odometry_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_odometry_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_odometry_t, vz) }, \
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{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_odometry_t, rollspeed) }, \
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{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_odometry_t, pitchspeed) }, \
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{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_odometry_t, yawspeed) }, \
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{ "pose_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 60, offsetof(mavlink_odometry_t, pose_covariance) }, \
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{ "twist_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 144, offsetof(mavlink_odometry_t, twist_covariance) }, \
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} \
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}
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#else
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#define MAVLINK_MESSAGE_INFO_ODOMETRY { \
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"ODOMETRY", \
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15, \
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{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_odometry_t, time_usec) }, \
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{ "frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 228, offsetof(mavlink_odometry_t, frame_id) }, \
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{ "child_frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 229, offsetof(mavlink_odometry_t, child_frame_id) }, \
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{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_odometry_t, x) }, \
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{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_odometry_t, y) }, \
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{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_odometry_t, z) }, \
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{ "q", NULL, MAVLINK_TYPE_FLOAT, 4, 20, offsetof(mavlink_odometry_t, q) }, \
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{ "vx", NULL, MAVLINK_TYPE_FLOAT, 0, 36, offsetof(mavlink_odometry_t, vx) }, \
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{ "vy", NULL, MAVLINK_TYPE_FLOAT, 0, 40, offsetof(mavlink_odometry_t, vy) }, \
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{ "vz", NULL, MAVLINK_TYPE_FLOAT, 0, 44, offsetof(mavlink_odometry_t, vz) }, \
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{ "rollspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 48, offsetof(mavlink_odometry_t, rollspeed) }, \
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{ "pitchspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 52, offsetof(mavlink_odometry_t, pitchspeed) }, \
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{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_odometry_t, yawspeed) }, \
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{ "pose_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 60, offsetof(mavlink_odometry_t, pose_covariance) }, \
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{ "twist_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 144, offsetof(mavlink_odometry_t, twist_covariance) }, \
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} \
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}
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#endif
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/**
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* @brief Pack a odometry message
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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* @param frame_id Coordinate frame of reference for the pose data.
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* @param child_frame_id Coordinate frame of reference for the velocity in free space (twist) data.
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* @param x [m] X Position
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* @param y [m] Y Position
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* @param z [m] Z Position
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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* @param vx [m/s] X linear speed
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* @param vy [m/s] Y linear speed
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* @param vz [m/s] Z linear speed
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* @param rollspeed [rad/s] Roll angular speed
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* @param pitchspeed [rad/s] Pitch angular speed
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* @param yawspeed [rad/s] Yaw angular speed
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* @param pose_covariance Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
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* @param twist_covariance Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_odometry_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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uint64_t time_usec, uint8_t frame_id, uint8_t child_frame_id, float x, float y, float z, const float *q, float vx, float vy, float vz, float rollspeed, float pitchspeed, float yawspeed, const float *pose_covariance, const float *twist_covariance)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_ODOMETRY_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_float(buf, 36, vx);
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_mav_put_float(buf, 40, vy);
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_mav_put_float(buf, 44, vz);
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_mav_put_float(buf, 48, rollspeed);
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_mav_put_float(buf, 52, pitchspeed);
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_mav_put_float(buf, 56, yawspeed);
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_mav_put_uint8_t(buf, 228, frame_id);
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_mav_put_uint8_t(buf, 229, child_frame_id);
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_mav_put_float_array(buf, 20, q, 4);
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_mav_put_float_array(buf, 60, pose_covariance, 21);
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_mav_put_float_array(buf, 144, twist_covariance, 21);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ODOMETRY_LEN);
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#else
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mavlink_odometry_t packet;
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packet.time_usec = time_usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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packet.frame_id = frame_id;
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packet.child_frame_id = child_frame_id;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.pose_covariance, pose_covariance, sizeof(float)*21);
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mav_array_memcpy(packet.twist_covariance, twist_covariance, sizeof(float)*21);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ODOMETRY_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ODOMETRY;
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return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
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}
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/**
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* @brief Pack a odometry message on a channel
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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* @param frame_id Coordinate frame of reference for the pose data.
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* @param child_frame_id Coordinate frame of reference for the velocity in free space (twist) data.
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* @param x [m] X Position
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* @param y [m] Y Position
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* @param z [m] Z Position
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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* @param vx [m/s] X linear speed
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* @param vy [m/s] Y linear speed
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* @param vz [m/s] Z linear speed
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* @param rollspeed [rad/s] Roll angular speed
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* @param pitchspeed [rad/s] Pitch angular speed
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* @param yawspeed [rad/s] Yaw angular speed
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* @param pose_covariance Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
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* @param twist_covariance Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
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* @return length of the message in bytes (excluding serial stream start sign)
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*/
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static inline uint16_t mavlink_msg_odometry_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
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mavlink_message_t* msg,
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uint64_t time_usec,uint8_t frame_id,uint8_t child_frame_id,float x,float y,float z,const float *q,float vx,float vy,float vz,float rollspeed,float pitchspeed,float yawspeed,const float *pose_covariance,const float *twist_covariance)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_ODOMETRY_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_float(buf, 36, vx);
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_mav_put_float(buf, 40, vy);
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_mav_put_float(buf, 44, vz);
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_mav_put_float(buf, 48, rollspeed);
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_mav_put_float(buf, 52, pitchspeed);
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_mav_put_float(buf, 56, yawspeed);
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_mav_put_uint8_t(buf, 228, frame_id);
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_mav_put_uint8_t(buf, 229, child_frame_id);
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_mav_put_float_array(buf, 20, q, 4);
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_mav_put_float_array(buf, 60, pose_covariance, 21);
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_mav_put_float_array(buf, 144, twist_covariance, 21);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ODOMETRY_LEN);
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#else
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mavlink_odometry_t packet;
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packet.time_usec = time_usec;
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packet.x = x;
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packet.y = y;
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packet.z = z;
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packet.vx = vx;
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packet.vy = vy;
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packet.vz = vz;
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packet.rollspeed = rollspeed;
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packet.pitchspeed = pitchspeed;
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packet.yawspeed = yawspeed;
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packet.frame_id = frame_id;
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packet.child_frame_id = child_frame_id;
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mav_array_memcpy(packet.q, q, sizeof(float)*4);
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mav_array_memcpy(packet.pose_covariance, pose_covariance, sizeof(float)*21);
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mav_array_memcpy(packet.twist_covariance, twist_covariance, sizeof(float)*21);
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memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ODOMETRY_LEN);
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#endif
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msg->msgid = MAVLINK_MSG_ID_ODOMETRY;
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return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
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}
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/**
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* @brief Encode a odometry struct
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param msg The MAVLink message to compress the data into
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* @param odometry C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_odometry_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_odometry_t* odometry)
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{
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return mavlink_msg_odometry_pack(system_id, component_id, msg, odometry->time_usec, odometry->frame_id, odometry->child_frame_id, odometry->x, odometry->y, odometry->z, odometry->q, odometry->vx, odometry->vy, odometry->vz, odometry->rollspeed, odometry->pitchspeed, odometry->yawspeed, odometry->pose_covariance, odometry->twist_covariance);
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}
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/**
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* @brief Encode a odometry struct on a channel
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*
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* @param system_id ID of this system
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* @param component_id ID of this component (e.g. 200 for IMU)
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* @param chan The MAVLink channel this message will be sent over
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* @param msg The MAVLink message to compress the data into
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* @param odometry C-struct to read the message contents from
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*/
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static inline uint16_t mavlink_msg_odometry_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_odometry_t* odometry)
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{
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return mavlink_msg_odometry_pack_chan(system_id, component_id, chan, msg, odometry->time_usec, odometry->frame_id, odometry->child_frame_id, odometry->x, odometry->y, odometry->z, odometry->q, odometry->vx, odometry->vy, odometry->vz, odometry->rollspeed, odometry->pitchspeed, odometry->yawspeed, odometry->pose_covariance, odometry->twist_covariance);
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}
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/**
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* @brief Send a odometry message
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* @param chan MAVLink channel to send the message
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*
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* @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
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* @param frame_id Coordinate frame of reference for the pose data.
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* @param child_frame_id Coordinate frame of reference for the velocity in free space (twist) data.
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* @param x [m] X Position
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* @param y [m] Y Position
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* @param z [m] Z Position
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* @param q Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
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* @param vx [m/s] X linear speed
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* @param vy [m/s] Y linear speed
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* @param vz [m/s] Z linear speed
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* @param rollspeed [rad/s] Roll angular speed
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* @param pitchspeed [rad/s] Pitch angular speed
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* @param yawspeed [rad/s] Yaw angular speed
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* @param pose_covariance Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
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* @param twist_covariance Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
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*/
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#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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static inline void mavlink_msg_odometry_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t frame_id, uint8_t child_frame_id, float x, float y, float z, const float *q, float vx, float vy, float vz, float rollspeed, float pitchspeed, float yawspeed, const float *pose_covariance, const float *twist_covariance)
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{
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#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
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char buf[MAVLINK_MSG_ID_ODOMETRY_LEN];
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_mav_put_uint64_t(buf, 0, time_usec);
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_mav_put_float(buf, 8, x);
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_mav_put_float(buf, 12, y);
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_mav_put_float(buf, 16, z);
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_mav_put_float(buf, 36, vx);
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_mav_put_float(buf, 40, vy);
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_mav_put_float(buf, 44, vz);
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_mav_put_float(buf, 48, rollspeed);
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_mav_put_float(buf, 52, pitchspeed);
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_mav_put_float(buf, 56, yawspeed);
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_mav_put_uint8_t(buf, 228, frame_id);
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_mav_put_uint8_t(buf, 229, child_frame_id);
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_mav_put_float_array(buf, 20, q, 4);
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_mav_put_float_array(buf, 60, pose_covariance, 21);
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_mav_put_float_array(buf, 144, twist_covariance, 21);
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_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ODOMETRY, buf, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
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#else
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mavlink_odometry_t packet;
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packet.time_usec = time_usec;
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packet.x = x;
|
||||
packet.y = y;
|
||||
packet.z = z;
|
||||
packet.vx = vx;
|
||||
packet.vy = vy;
|
||||
packet.vz = vz;
|
||||
packet.rollspeed = rollspeed;
|
||||
packet.pitchspeed = pitchspeed;
|
||||
packet.yawspeed = yawspeed;
|
||||
packet.frame_id = frame_id;
|
||||
packet.child_frame_id = child_frame_id;
|
||||
mav_array_memcpy(packet.q, q, sizeof(float)*4);
|
||||
mav_array_memcpy(packet.pose_covariance, pose_covariance, sizeof(float)*21);
|
||||
mav_array_memcpy(packet.twist_covariance, twist_covariance, sizeof(float)*21);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ODOMETRY, (const char *)&packet, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
|
||||
#endif
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Send a odometry message
|
||||
* @param chan MAVLink channel to send the message
|
||||
* @param struct The MAVLink struct to serialize
|
||||
*/
|
||||
static inline void mavlink_msg_odometry_send_struct(mavlink_channel_t chan, const mavlink_odometry_t* odometry)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
mavlink_msg_odometry_send(chan, odometry->time_usec, odometry->frame_id, odometry->child_frame_id, odometry->x, odometry->y, odometry->z, odometry->q, odometry->vx, odometry->vy, odometry->vz, odometry->rollspeed, odometry->pitchspeed, odometry->yawspeed, odometry->pose_covariance, odometry->twist_covariance);
|
||||
#else
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ODOMETRY, (const char *)odometry, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
|
||||
#endif
|
||||
}
|
||||
|
||||
#if MAVLINK_MSG_ID_ODOMETRY_LEN <= MAVLINK_MAX_PAYLOAD_LEN
|
||||
/*
|
||||
This varient of _send() can be used to save stack space by re-using
|
||||
memory from the receive buffer. The caller provides a
|
||||
mavlink_message_t which is the size of a full mavlink message. This
|
||||
is usually the receive buffer for the channel, and allows a reply to an
|
||||
incoming message with minimum stack space usage.
|
||||
*/
|
||||
static inline void mavlink_msg_odometry_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t time_usec, uint8_t frame_id, uint8_t child_frame_id, float x, float y, float z, const float *q, float vx, float vy, float vz, float rollspeed, float pitchspeed, float yawspeed, const float *pose_covariance, const float *twist_covariance)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
char *buf = (char *)msgbuf;
|
||||
_mav_put_uint64_t(buf, 0, time_usec);
|
||||
_mav_put_float(buf, 8, x);
|
||||
_mav_put_float(buf, 12, y);
|
||||
_mav_put_float(buf, 16, z);
|
||||
_mav_put_float(buf, 36, vx);
|
||||
_mav_put_float(buf, 40, vy);
|
||||
_mav_put_float(buf, 44, vz);
|
||||
_mav_put_float(buf, 48, rollspeed);
|
||||
_mav_put_float(buf, 52, pitchspeed);
|
||||
_mav_put_float(buf, 56, yawspeed);
|
||||
_mav_put_uint8_t(buf, 228, frame_id);
|
||||
_mav_put_uint8_t(buf, 229, child_frame_id);
|
||||
_mav_put_float_array(buf, 20, q, 4);
|
||||
_mav_put_float_array(buf, 60, pose_covariance, 21);
|
||||
_mav_put_float_array(buf, 144, twist_covariance, 21);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ODOMETRY, buf, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
|
||||
#else
|
||||
mavlink_odometry_t *packet = (mavlink_odometry_t *)msgbuf;
|
||||
packet->time_usec = time_usec;
|
||||
packet->x = x;
|
||||
packet->y = y;
|
||||
packet->z = z;
|
||||
packet->vx = vx;
|
||||
packet->vy = vy;
|
||||
packet->vz = vz;
|
||||
packet->rollspeed = rollspeed;
|
||||
packet->pitchspeed = pitchspeed;
|
||||
packet->yawspeed = yawspeed;
|
||||
packet->frame_id = frame_id;
|
||||
packet->child_frame_id = child_frame_id;
|
||||
mav_array_memcpy(packet->q, q, sizeof(float)*4);
|
||||
mav_array_memcpy(packet->pose_covariance, pose_covariance, sizeof(float)*21);
|
||||
mav_array_memcpy(packet->twist_covariance, twist_covariance, sizeof(float)*21);
|
||||
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ODOMETRY, (const char *)packet, MAVLINK_MSG_ID_ODOMETRY_MIN_LEN, MAVLINK_MSG_ID_ODOMETRY_LEN, MAVLINK_MSG_ID_ODOMETRY_CRC);
|
||||
#endif
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif
|
||||
|
||||
// MESSAGE ODOMETRY UNPACKING
|
||||
|
||||
|
||||
/**
|
||||
* @brief Get field time_usec from odometry message
|
||||
*
|
||||
* @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude the number.
|
||||
*/
|
||||
static inline uint64_t mavlink_msg_odometry_get_time_usec(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint64_t(msg, 0);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field frame_id from odometry message
|
||||
*
|
||||
* @return Coordinate frame of reference for the pose data.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_odometry_get_frame_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 228);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field child_frame_id from odometry message
|
||||
*
|
||||
* @return Coordinate frame of reference for the velocity in free space (twist) data.
|
||||
*/
|
||||
static inline uint8_t mavlink_msg_odometry_get_child_frame_id(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_uint8_t(msg, 229);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field x from odometry message
|
||||
*
|
||||
* @return [m] X Position
|
||||
*/
|
||||
static inline float mavlink_msg_odometry_get_x(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 8);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field y from odometry message
|
||||
*
|
||||
* @return [m] Y Position
|
||||
*/
|
||||
static inline float mavlink_msg_odometry_get_y(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 12);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field z from odometry message
|
||||
*
|
||||
* @return [m] Z Position
|
||||
*/
|
||||
static inline float mavlink_msg_odometry_get_z(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 16);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field q from odometry message
|
||||
*
|
||||
* @return Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_odometry_get_q(const mavlink_message_t* msg, float *q)
|
||||
{
|
||||
return _MAV_RETURN_float_array(msg, q, 4, 20);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vx from odometry message
|
||||
*
|
||||
* @return [m/s] X linear speed
|
||||
*/
|
||||
static inline float mavlink_msg_odometry_get_vx(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 36);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vy from odometry message
|
||||
*
|
||||
* @return [m/s] Y linear speed
|
||||
*/
|
||||
static inline float mavlink_msg_odometry_get_vy(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 40);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field vz from odometry message
|
||||
*
|
||||
* @return [m/s] Z linear speed
|
||||
*/
|
||||
static inline float mavlink_msg_odometry_get_vz(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 44);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field rollspeed from odometry message
|
||||
*
|
||||
* @return [rad/s] Roll angular speed
|
||||
*/
|
||||
static inline float mavlink_msg_odometry_get_rollspeed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 48);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pitchspeed from odometry message
|
||||
*
|
||||
* @return [rad/s] Pitch angular speed
|
||||
*/
|
||||
static inline float mavlink_msg_odometry_get_pitchspeed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 52);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field yawspeed from odometry message
|
||||
*
|
||||
* @return [rad/s] Yaw angular speed
|
||||
*/
|
||||
static inline float mavlink_msg_odometry_get_yawspeed(const mavlink_message_t* msg)
|
||||
{
|
||||
return _MAV_RETURN_float(msg, 56);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field pose_covariance from odometry message
|
||||
*
|
||||
* @return Pose (states: x, y, z, roll, pitch, yaw) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_odometry_get_pose_covariance(const mavlink_message_t* msg, float *pose_covariance)
|
||||
{
|
||||
return _MAV_RETURN_float_array(msg, pose_covariance, 21, 60);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Get field twist_covariance from odometry message
|
||||
*
|
||||
* @return Twist (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed) covariance matrix upper right triangle (first six entries are the first ROW, next five entries are the second ROW, etc.)
|
||||
*/
|
||||
static inline uint16_t mavlink_msg_odometry_get_twist_covariance(const mavlink_message_t* msg, float *twist_covariance)
|
||||
{
|
||||
return _MAV_RETURN_float_array(msg, twist_covariance, 21, 144);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Decode a odometry message into a struct
|
||||
*
|
||||
* @param msg The message to decode
|
||||
* @param odometry C-struct to decode the message contents into
|
||||
*/
|
||||
static inline void mavlink_msg_odometry_decode(const mavlink_message_t* msg, mavlink_odometry_t* odometry)
|
||||
{
|
||||
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
|
||||
odometry->time_usec = mavlink_msg_odometry_get_time_usec(msg);
|
||||
odometry->x = mavlink_msg_odometry_get_x(msg);
|
||||
odometry->y = mavlink_msg_odometry_get_y(msg);
|
||||
odometry->z = mavlink_msg_odometry_get_z(msg);
|
||||
mavlink_msg_odometry_get_q(msg, odometry->q);
|
||||
odometry->vx = mavlink_msg_odometry_get_vx(msg);
|
||||
odometry->vy = mavlink_msg_odometry_get_vy(msg);
|
||||
odometry->vz = mavlink_msg_odometry_get_vz(msg);
|
||||
odometry->rollspeed = mavlink_msg_odometry_get_rollspeed(msg);
|
||||
odometry->pitchspeed = mavlink_msg_odometry_get_pitchspeed(msg);
|
||||
odometry->yawspeed = mavlink_msg_odometry_get_yawspeed(msg);
|
||||
mavlink_msg_odometry_get_pose_covariance(msg, odometry->pose_covariance);
|
||||
mavlink_msg_odometry_get_twist_covariance(msg, odometry->twist_covariance);
|
||||
odometry->frame_id = mavlink_msg_odometry_get_frame_id(msg);
|
||||
odometry->child_frame_id = mavlink_msg_odometry_get_child_frame_id(msg);
|
||||
#else
|
||||
uint8_t len = msg->len < MAVLINK_MSG_ID_ODOMETRY_LEN? msg->len : MAVLINK_MSG_ID_ODOMETRY_LEN;
|
||||
memset(odometry, 0, MAVLINK_MSG_ID_ODOMETRY_LEN);
|
||||
memcpy(odometry, _MAV_PAYLOAD(msg), len);
|
||||
#endif
|
||||
}
|
||||
Reference in New Issue
Block a user