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mavlink/development/mavlink_msg_target_relative.h
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#pragma once
// MESSAGE TARGET_RELATIVE PACKING
#define MAVLINK_MSG_ID_TARGET_RELATIVE 511
typedef struct __mavlink_target_relative_t {
uint64_t timestamp; /*< [us] Timestamp (UNIX epoch time)*/
float x; /*< [m] X Position of the target in TARGET_OBS_FRAME*/
float y; /*< [m] Y Position of the target in TARGET_OBS_FRAME*/
float z; /*< [m] Z Position of the target in TARGET_OBS_FRAME*/
float pos_std[3]; /*< [m] Standard deviation of the target's position in TARGET_OBS_FRAME*/
float yaw_std; /*< [rad] Standard deviation of the target's orientation in TARGET_OBS_FRAME*/
float q_target[4]; /*< Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
float q_sensor[4]; /*< Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)*/
uint8_t id; /*< The ID of the target if multiple targets are present*/
uint8_t frame; /*< Coordinate frame used for following fields.*/
uint8_t type; /*< Type of target*/
} mavlink_target_relative_t;
#define MAVLINK_MSG_ID_TARGET_RELATIVE_LEN 71
#define MAVLINK_MSG_ID_TARGET_RELATIVE_MIN_LEN 71
#define MAVLINK_MSG_ID_511_LEN 71
#define MAVLINK_MSG_ID_511_MIN_LEN 71
#define MAVLINK_MSG_ID_TARGET_RELATIVE_CRC 28
#define MAVLINK_MSG_ID_511_CRC 28
#define MAVLINK_MSG_TARGET_RELATIVE_FIELD_POS_STD_LEN 3
#define MAVLINK_MSG_TARGET_RELATIVE_FIELD_Q_TARGET_LEN 4
#define MAVLINK_MSG_TARGET_RELATIVE_FIELD_Q_SENSOR_LEN 4
#if MAVLINK_COMMAND_24BIT
#define MAVLINK_MESSAGE_INFO_TARGET_RELATIVE { \
511, \
"TARGET_RELATIVE", \
11, \
{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_target_relative_t, timestamp) }, \
{ "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 68, offsetof(mavlink_target_relative_t, id) }, \
{ "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 69, offsetof(mavlink_target_relative_t, frame) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_target_relative_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_target_relative_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_target_relative_t, z) }, \
{ "pos_std", NULL, MAVLINK_TYPE_FLOAT, 3, 20, offsetof(mavlink_target_relative_t, pos_std) }, \
{ "yaw_std", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_target_relative_t, yaw_std) }, \
{ "q_target", NULL, MAVLINK_TYPE_FLOAT, 4, 36, offsetof(mavlink_target_relative_t, q_target) }, \
{ "q_sensor", NULL, MAVLINK_TYPE_FLOAT, 4, 52, offsetof(mavlink_target_relative_t, q_sensor) }, \
{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 70, offsetof(mavlink_target_relative_t, type) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_TARGET_RELATIVE { \
"TARGET_RELATIVE", \
11, \
{ { "timestamp", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_target_relative_t, timestamp) }, \
{ "id", NULL, MAVLINK_TYPE_UINT8_T, 0, 68, offsetof(mavlink_target_relative_t, id) }, \
{ "frame", NULL, MAVLINK_TYPE_UINT8_T, 0, 69, offsetof(mavlink_target_relative_t, frame) }, \
{ "x", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_target_relative_t, x) }, \
{ "y", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_target_relative_t, y) }, \
{ "z", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_target_relative_t, z) }, \
{ "pos_std", NULL, MAVLINK_TYPE_FLOAT, 3, 20, offsetof(mavlink_target_relative_t, pos_std) }, \
{ "yaw_std", NULL, MAVLINK_TYPE_FLOAT, 0, 32, offsetof(mavlink_target_relative_t, yaw_std) }, \
{ "q_target", NULL, MAVLINK_TYPE_FLOAT, 4, 36, offsetof(mavlink_target_relative_t, q_target) }, \
{ "q_sensor", NULL, MAVLINK_TYPE_FLOAT, 4, 52, offsetof(mavlink_target_relative_t, q_sensor) }, \
{ "type", NULL, MAVLINK_TYPE_UINT8_T, 0, 70, offsetof(mavlink_target_relative_t, type) }, \
} \
}
#endif
/**
* @brief Pack a target_relative message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
*
* @param timestamp [us] Timestamp (UNIX epoch time)
* @param id The ID of the target if multiple targets are present
* @param frame Coordinate frame used for following fields.
* @param x [m] X Position of the target in TARGET_OBS_FRAME
* @param y [m] Y Position of the target in TARGET_OBS_FRAME
* @param z [m] Z Position of the target in TARGET_OBS_FRAME
* @param pos_std [m] Standard deviation of the target's position in TARGET_OBS_FRAME
* @param yaw_std [rad] Standard deviation of the target's orientation in TARGET_OBS_FRAME
* @param q_target Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
* @param q_sensor Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
* @param type Type of target
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_target_relative_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
uint64_t timestamp, uint8_t id, uint8_t frame, float x, float y, float z, const float *pos_std, float yaw_std, const float *q_target, const float *q_sensor, uint8_t type)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_TARGET_RELATIVE_LEN];
_mav_put_uint64_t(buf, 0, timestamp);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 32, yaw_std);
_mav_put_uint8_t(buf, 68, id);
_mav_put_uint8_t(buf, 69, frame);
_mav_put_uint8_t(buf, 70, type);
_mav_put_float_array(buf, 20, pos_std, 3);
_mav_put_float_array(buf, 36, q_target, 4);
_mav_put_float_array(buf, 52, q_sensor, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN);
#else
mavlink_target_relative_t packet;
packet.timestamp = timestamp;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw_std = yaw_std;
packet.id = id;
packet.frame = frame;
packet.type = type;
mav_array_memcpy(packet.pos_std, pos_std, sizeof(float)*3);
mav_array_memcpy(packet.q_target, q_target, sizeof(float)*4);
mav_array_memcpy(packet.q_sensor, q_sensor, sizeof(float)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_TARGET_RELATIVE;
return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TARGET_RELATIVE_MIN_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_CRC);
}
/**
* @brief Pack a target_relative message
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param status MAVLink status structure
* @param msg The MAVLink message to compress the data into
*
* @param timestamp [us] Timestamp (UNIX epoch time)
* @param id The ID of the target if multiple targets are present
* @param frame Coordinate frame used for following fields.
* @param x [m] X Position of the target in TARGET_OBS_FRAME
* @param y [m] Y Position of the target in TARGET_OBS_FRAME
* @param z [m] Z Position of the target in TARGET_OBS_FRAME
* @param pos_std [m] Standard deviation of the target's position in TARGET_OBS_FRAME
* @param yaw_std [rad] Standard deviation of the target's orientation in TARGET_OBS_FRAME
* @param q_target Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
* @param q_sensor Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
* @param type Type of target
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_target_relative_pack_status(uint8_t system_id, uint8_t component_id, mavlink_status_t *_status, mavlink_message_t* msg,
uint64_t timestamp, uint8_t id, uint8_t frame, float x, float y, float z, const float *pos_std, float yaw_std, const float *q_target, const float *q_sensor, uint8_t type)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_TARGET_RELATIVE_LEN];
_mav_put_uint64_t(buf, 0, timestamp);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 32, yaw_std);
_mav_put_uint8_t(buf, 68, id);
_mav_put_uint8_t(buf, 69, frame);
_mav_put_uint8_t(buf, 70, type);
_mav_put_float_array(buf, 20, pos_std, 3);
_mav_put_float_array(buf, 36, q_target, 4);
_mav_put_float_array(buf, 52, q_sensor, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN);
#else
mavlink_target_relative_t packet;
packet.timestamp = timestamp;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw_std = yaw_std;
packet.id = id;
packet.frame = frame;
packet.type = type;
mav_array_memcpy(packet.pos_std, pos_std, sizeof(float)*3);
mav_array_memcpy(packet.q_target, q_target, sizeof(float)*4);
mav_array_memcpy(packet.q_sensor, q_sensor, sizeof(float)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_TARGET_RELATIVE;
#if MAVLINK_CRC_EXTRA
return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_TARGET_RELATIVE_MIN_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_CRC);
#else
return mavlink_finalize_message_buffer(msg, system_id, component_id, _status, MAVLINK_MSG_ID_TARGET_RELATIVE_MIN_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN);
#endif
}
/**
* @brief Pack a target_relative message on a channel
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param timestamp [us] Timestamp (UNIX epoch time)
* @param id The ID of the target if multiple targets are present
* @param frame Coordinate frame used for following fields.
* @param x [m] X Position of the target in TARGET_OBS_FRAME
* @param y [m] Y Position of the target in TARGET_OBS_FRAME
* @param z [m] Z Position of the target in TARGET_OBS_FRAME
* @param pos_std [m] Standard deviation of the target's position in TARGET_OBS_FRAME
* @param yaw_std [rad] Standard deviation of the target's orientation in TARGET_OBS_FRAME
* @param q_target Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
* @param q_sensor Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
* @param type Type of target
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_target_relative_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
uint64_t timestamp,uint8_t id,uint8_t frame,float x,float y,float z,const float *pos_std,float yaw_std,const float *q_target,const float *q_sensor,uint8_t type)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_TARGET_RELATIVE_LEN];
_mav_put_uint64_t(buf, 0, timestamp);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 32, yaw_std);
_mav_put_uint8_t(buf, 68, id);
_mav_put_uint8_t(buf, 69, frame);
_mav_put_uint8_t(buf, 70, type);
_mav_put_float_array(buf, 20, pos_std, 3);
_mav_put_float_array(buf, 36, q_target, 4);
_mav_put_float_array(buf, 52, q_sensor, 4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN);
#else
mavlink_target_relative_t packet;
packet.timestamp = timestamp;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw_std = yaw_std;
packet.id = id;
packet.frame = frame;
packet.type = type;
mav_array_memcpy(packet.pos_std, pos_std, sizeof(float)*3);
mav_array_memcpy(packet.q_target, q_target, sizeof(float)*4);
mav_array_memcpy(packet.q_sensor, q_sensor, sizeof(float)*4);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN);
#endif
msg->msgid = MAVLINK_MSG_ID_TARGET_RELATIVE;
return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TARGET_RELATIVE_MIN_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_CRC);
}
/**
* @brief Encode a target_relative struct
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param msg The MAVLink message to compress the data into
* @param target_relative C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_target_relative_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_target_relative_t* target_relative)
{
return mavlink_msg_target_relative_pack(system_id, component_id, msg, target_relative->timestamp, target_relative->id, target_relative->frame, target_relative->x, target_relative->y, target_relative->z, target_relative->pos_std, target_relative->yaw_std, target_relative->q_target, target_relative->q_sensor, target_relative->type);
}
/**
* @brief Encode a target_relative struct on a channel
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param chan The MAVLink channel this message will be sent over
* @param msg The MAVLink message to compress the data into
* @param target_relative C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_target_relative_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_target_relative_t* target_relative)
{
return mavlink_msg_target_relative_pack_chan(system_id, component_id, chan, msg, target_relative->timestamp, target_relative->id, target_relative->frame, target_relative->x, target_relative->y, target_relative->z, target_relative->pos_std, target_relative->yaw_std, target_relative->q_target, target_relative->q_sensor, target_relative->type);
}
/**
* @brief Encode a target_relative struct with provided status structure
*
* @param system_id ID of this system
* @param component_id ID of this component (e.g. 200 for IMU)
* @param status MAVLink status structure
* @param msg The MAVLink message to compress the data into
* @param target_relative C-struct to read the message contents from
*/
static inline uint16_t mavlink_msg_target_relative_encode_status(uint8_t system_id, uint8_t component_id, mavlink_status_t* _status, mavlink_message_t* msg, const mavlink_target_relative_t* target_relative)
{
return mavlink_msg_target_relative_pack_status(system_id, component_id, _status, msg, target_relative->timestamp, target_relative->id, target_relative->frame, target_relative->x, target_relative->y, target_relative->z, target_relative->pos_std, target_relative->yaw_std, target_relative->q_target, target_relative->q_sensor, target_relative->type);
}
/**
* @brief Send a target_relative message
* @param chan MAVLink channel to send the message
*
* @param timestamp [us] Timestamp (UNIX epoch time)
* @param id The ID of the target if multiple targets are present
* @param frame Coordinate frame used for following fields.
* @param x [m] X Position of the target in TARGET_OBS_FRAME
* @param y [m] Y Position of the target in TARGET_OBS_FRAME
* @param z [m] Z Position of the target in TARGET_OBS_FRAME
* @param pos_std [m] Standard deviation of the target's position in TARGET_OBS_FRAME
* @param yaw_std [rad] Standard deviation of the target's orientation in TARGET_OBS_FRAME
* @param q_target Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
* @param q_sensor Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
* @param type Type of target
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
static inline void mavlink_msg_target_relative_send(mavlink_channel_t chan, uint64_t timestamp, uint8_t id, uint8_t frame, float x, float y, float z, const float *pos_std, float yaw_std, const float *q_target, const float *q_sensor, uint8_t type)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_TARGET_RELATIVE_LEN];
_mav_put_uint64_t(buf, 0, timestamp);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 32, yaw_std);
_mav_put_uint8_t(buf, 68, id);
_mav_put_uint8_t(buf, 69, frame);
_mav_put_uint8_t(buf, 70, type);
_mav_put_float_array(buf, 20, pos_std, 3);
_mav_put_float_array(buf, 36, q_target, 4);
_mav_put_float_array(buf, 52, q_sensor, 4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TARGET_RELATIVE, buf, MAVLINK_MSG_ID_TARGET_RELATIVE_MIN_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_CRC);
#else
mavlink_target_relative_t packet;
packet.timestamp = timestamp;
packet.x = x;
packet.y = y;
packet.z = z;
packet.yaw_std = yaw_std;
packet.id = id;
packet.frame = frame;
packet.type = type;
mav_array_memcpy(packet.pos_std, pos_std, sizeof(float)*3);
mav_array_memcpy(packet.q_target, q_target, sizeof(float)*4);
mav_array_memcpy(packet.q_sensor, q_sensor, sizeof(float)*4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TARGET_RELATIVE, (const char *)&packet, MAVLINK_MSG_ID_TARGET_RELATIVE_MIN_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_CRC);
#endif
}
/**
* @brief Send a target_relative message
* @param chan MAVLink channel to send the message
* @param struct The MAVLink struct to serialize
*/
static inline void mavlink_msg_target_relative_send_struct(mavlink_channel_t chan, const mavlink_target_relative_t* target_relative)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
mavlink_msg_target_relative_send(chan, target_relative->timestamp, target_relative->id, target_relative->frame, target_relative->x, target_relative->y, target_relative->z, target_relative->pos_std, target_relative->yaw_std, target_relative->q_target, target_relative->q_sensor, target_relative->type);
#else
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TARGET_RELATIVE, (const char *)target_relative, MAVLINK_MSG_ID_TARGET_RELATIVE_MIN_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_CRC);
#endif
}
#if MAVLINK_MSG_ID_TARGET_RELATIVE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
/*
This variant of _send() can be used to save stack space by re-using
memory from the receive buffer. The caller provides a
mavlink_message_t which is the size of a full mavlink message. This
is usually the receive buffer for the channel, and allows a reply to an
incoming message with minimum stack space usage.
*/
static inline void mavlink_msg_target_relative_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan, uint64_t timestamp, uint8_t id, uint8_t frame, float x, float y, float z, const float *pos_std, float yaw_std, const float *q_target, const float *q_sensor, uint8_t type)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
_mav_put_uint64_t(buf, 0, timestamp);
_mav_put_float(buf, 8, x);
_mav_put_float(buf, 12, y);
_mav_put_float(buf, 16, z);
_mav_put_float(buf, 32, yaw_std);
_mav_put_uint8_t(buf, 68, id);
_mav_put_uint8_t(buf, 69, frame);
_mav_put_uint8_t(buf, 70, type);
_mav_put_float_array(buf, 20, pos_std, 3);
_mav_put_float_array(buf, 36, q_target, 4);
_mav_put_float_array(buf, 52, q_sensor, 4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TARGET_RELATIVE, buf, MAVLINK_MSG_ID_TARGET_RELATIVE_MIN_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_CRC);
#else
mavlink_target_relative_t *packet = (mavlink_target_relative_t *)msgbuf;
packet->timestamp = timestamp;
packet->x = x;
packet->y = y;
packet->z = z;
packet->yaw_std = yaw_std;
packet->id = id;
packet->frame = frame;
packet->type = type;
mav_array_memcpy(packet->pos_std, pos_std, sizeof(float)*3);
mav_array_memcpy(packet->q_target, q_target, sizeof(float)*4);
mav_array_memcpy(packet->q_sensor, q_sensor, sizeof(float)*4);
_mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TARGET_RELATIVE, (const char *)packet, MAVLINK_MSG_ID_TARGET_RELATIVE_MIN_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN, MAVLINK_MSG_ID_TARGET_RELATIVE_CRC);
#endif
}
#endif
#endif
// MESSAGE TARGET_RELATIVE UNPACKING
/**
* @brief Get field timestamp from target_relative message
*
* @return [us] Timestamp (UNIX epoch time)
*/
static inline uint64_t mavlink_msg_target_relative_get_timestamp(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint64_t(msg, 0);
}
/**
* @brief Get field id from target_relative message
*
* @return The ID of the target if multiple targets are present
*/
static inline uint8_t mavlink_msg_target_relative_get_id(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 68);
}
/**
* @brief Get field frame from target_relative message
*
* @return Coordinate frame used for following fields.
*/
static inline uint8_t mavlink_msg_target_relative_get_frame(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 69);
}
/**
* @brief Get field x from target_relative message
*
* @return [m] X Position of the target in TARGET_OBS_FRAME
*/
static inline float mavlink_msg_target_relative_get_x(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 8);
}
/**
* @brief Get field y from target_relative message
*
* @return [m] Y Position of the target in TARGET_OBS_FRAME
*/
static inline float mavlink_msg_target_relative_get_y(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 12);
}
/**
* @brief Get field z from target_relative message
*
* @return [m] Z Position of the target in TARGET_OBS_FRAME
*/
static inline float mavlink_msg_target_relative_get_z(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 16);
}
/**
* @brief Get field pos_std from target_relative message
*
* @return [m] Standard deviation of the target's position in TARGET_OBS_FRAME
*/
static inline uint16_t mavlink_msg_target_relative_get_pos_std(const mavlink_message_t* msg, float *pos_std)
{
return _MAV_RETURN_float_array(msg, pos_std, 3, 20);
}
/**
* @brief Get field yaw_std from target_relative message
*
* @return [rad] Standard deviation of the target's orientation in TARGET_OBS_FRAME
*/
static inline float mavlink_msg_target_relative_get_yaw_std(const mavlink_message_t* msg)
{
return _MAV_RETURN_float(msg, 32);
}
/**
* @brief Get field q_target from target_relative message
*
* @return Quaternion of the target's orientation from the target's frame to the TARGET_OBS_FRAME (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
*/
static inline uint16_t mavlink_msg_target_relative_get_q_target(const mavlink_message_t* msg, float *q_target)
{
return _MAV_RETURN_float_array(msg, q_target, 4, 36);
}
/**
* @brief Get field q_sensor from target_relative message
*
* @return Quaternion of the sensor's orientation from TARGET_OBS_FRAME to vehicle-carried NED. (Ignored if set to (0,0,0,0)) (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
*/
static inline uint16_t mavlink_msg_target_relative_get_q_sensor(const mavlink_message_t* msg, float *q_sensor)
{
return _MAV_RETURN_float_array(msg, q_sensor, 4, 52);
}
/**
* @brief Get field type from target_relative message
*
* @return Type of target
*/
static inline uint8_t mavlink_msg_target_relative_get_type(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 70);
}
/**
* @brief Decode a target_relative message into a struct
*
* @param msg The message to decode
* @param target_relative C-struct to decode the message contents into
*/
static inline void mavlink_msg_target_relative_decode(const mavlink_message_t* msg, mavlink_target_relative_t* target_relative)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
target_relative->timestamp = mavlink_msg_target_relative_get_timestamp(msg);
target_relative->x = mavlink_msg_target_relative_get_x(msg);
target_relative->y = mavlink_msg_target_relative_get_y(msg);
target_relative->z = mavlink_msg_target_relative_get_z(msg);
mavlink_msg_target_relative_get_pos_std(msg, target_relative->pos_std);
target_relative->yaw_std = mavlink_msg_target_relative_get_yaw_std(msg);
mavlink_msg_target_relative_get_q_target(msg, target_relative->q_target);
mavlink_msg_target_relative_get_q_sensor(msg, target_relative->q_sensor);
target_relative->id = mavlink_msg_target_relative_get_id(msg);
target_relative->frame = mavlink_msg_target_relative_get_frame(msg);
target_relative->type = mavlink_msg_target_relative_get_type(msg);
#else
uint8_t len = msg->len < MAVLINK_MSG_ID_TARGET_RELATIVE_LEN? msg->len : MAVLINK_MSG_ID_TARGET_RELATIVE_LEN;
memset(target_relative, 0, MAVLINK_MSG_ID_TARGET_RELATIVE_LEN);
memcpy(target_relative, _MAV_PAYLOAD(msg), len);
#endif
}
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