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C-Astral dialect C library
Commit 171c8370 authored by PX4BuildBot's avatar PX4BuildBot
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autogenerated headers for rev... 

autogenerated headers for rev https://github.com/mavlink/mavlink/tree/41493299b7a8cd66634ea3892a6e54a8eaaa5d44
parent 0b4e77d0
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Showing with 180 additions and 71 deletions
ASLUAV/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
ardupilotmega/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
autoquad/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
common/mavlink_msg_global_vision_position_estimate.h
View file @ 171c8370
......@@ -13,11 +13,12 @@ typedef struct __mavlink_global_vision_position_estimate_t {
float pitch; /*< [rad] Pitch angle*/
float yaw; /*< [rad] Yaw angle*/
float covariance[21]; /*< Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.*/
uint8_t reset_counter; /*< Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.*/
}) mavlink_global_vision_position_estimate_t;
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 116
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN 117
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_MIN_LEN 32
#define MAVLINK_MSG_ID_101_LEN 116
#define MAVLINK_MSG_ID_101_LEN 117
#define MAVLINK_MSG_ID_101_MIN_LEN 32
#define MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_CRC 102
......@@ -29,7 +30,7 @@ typedef struct __mavlink_global_vision_position_estimate_t {
#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
101, \
"GLOBAL_VISION_POSITION_ESTIMATE", \
8, \
9, \
{ { "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) }, \
......@@ -38,12 +39,13 @@ typedef struct __mavlink_global_vision_position_estimate_t {
{ "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) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 116, offsetof(mavlink_global_vision_position_estimate_t, reset_counter) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_GLOBAL_VISION_POSITION_ESTIMATE { \
"GLOBAL_VISION_POSITION_ESTIMATE", \
8, \
9, \
{ { "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) }, \
......@@ -52,6 +54,7 @@ typedef struct __mavlink_global_vision_position_estimate_t {
{ "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) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 116, offsetof(mavlink_global_vision_position_estimate_t, reset_counter) }, \
} \
}
#endif
......@@ -70,10 +73,11 @@ typedef struct __mavlink_global_vision_position_estimate_t {
* @param pitch [rad] Pitch angle
* @param yaw [rad] Yaw angle
* @param covariance Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
* @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, const float *covariance)
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
......@@ -84,6 +88,7 @@ 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_uint8_t(buf, 116, reset_counter);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
......@@ -95,6 +100,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.reset_counter = reset_counter;
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
......@@ -117,11 +123,12 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack(uint8_t
* @param pitch [rad] Pitch angle
* @param yaw [rad] Yaw angle
* @param covariance Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
* @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,const float *covariance)
uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw,const float *covariance,uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
......@@ -132,6 +139,7 @@ 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_uint8_t(buf, 116, reset_counter);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN);
#else
......@@ -143,6 +151,7 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_pack_chan(uin
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.reset_counter = reset_counter;
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
......@@ -161,7 +170,7 @@ 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, global_vision_position_estimate->covariance);
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, global_vision_position_estimate->reset_counter);
}
/**
......@@ -175,7 +184,7 @@ 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, global_vision_position_estimate->covariance);
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, global_vision_position_estimate->reset_counter);
}
/**
......@@ -190,10 +199,11 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_encode_chan(u
* @param pitch [rad] Pitch angle
* @param yaw [rad] Yaw angle
* @param covariance Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
*/
#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, const float *covariance)
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, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE_LEN];
......@@ -204,6 +214,7 @@ 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_uint8_t(buf, 116, reset_counter);
_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
......@@ -215,6 +226,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send(mavlink_chan
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.reset_counter = reset_counter;
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
......@@ -228,7 +240,7 @@ 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, global_vision_position_estimate->covariance);
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, global_vision_position_estimate->reset_counter);
#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
......@@ -242,7 +254,7 @@ 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, const float *covariance)
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, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
......@@ -253,6 +265,7 @@ 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_uint8_t(buf, 116, reset_counter);
_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
......@@ -264,6 +277,7 @@ static inline void mavlink_msg_global_vision_position_estimate_send_buf(mavlink_
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
packet->reset_counter = reset_counter;
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
......@@ -355,6 +369,16 @@ static inline uint16_t mavlink_msg_global_vision_position_estimate_get_covarianc
return _MAV_RETURN_float_array(msg, covariance, 21, 32);
}
/**
* @brief Get field reset_counter from global_vision_position_estimate message
*
* @return Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
*/
static inline uint8_t mavlink_msg_global_vision_position_estimate_get_reset_counter(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 116);
}
/**
* @brief Decode a global_vision_position_estimate message into a struct
*
......@@ -372,6 +396,7 @@ static inline void mavlink_msg_global_vision_position_estimate_decode(const mavl
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);
global_vision_position_estimate->reset_counter = mavlink_msg_global_vision_position_estimate_get_reset_counter(msg);
#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_odometry.h
View file @ 171c8370
......@@ -20,11 +20,12 @@ typedef struct __mavlink_odometry_t {
float velocity_covariance[21]; /*< Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.*/
uint8_t frame_id; /*< Coordinate frame of reference for the pose data.*/
uint8_t child_frame_id; /*< Coordinate frame of reference for the velocity in free space (twist) data.*/
uint8_t reset_counter; /*< Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.*/
}) mavlink_odometry_t;
#define MAVLINK_MSG_ID_ODOMETRY_LEN 230
#define MAVLINK_MSG_ID_ODOMETRY_LEN 231
#define MAVLINK_MSG_ID_ODOMETRY_MIN_LEN 230
#define MAVLINK_MSG_ID_331_LEN 230
#define MAVLINK_MSG_ID_331_LEN 231
#define MAVLINK_MSG_ID_331_MIN_LEN 230
#define MAVLINK_MSG_ID_ODOMETRY_CRC 91
......@@ -38,7 +39,7 @@ typedef struct __mavlink_odometry_t {
#define MAVLINK_MESSAGE_INFO_ODOMETRY { \
331, \
"ODOMETRY", \
15, \
16, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_odometry_t, time_usec) }, \
{ "frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 228, offsetof(mavlink_odometry_t, frame_id) }, \
{ "child_frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 229, offsetof(mavlink_odometry_t, child_frame_id) }, \
......@@ -54,12 +55,13 @@ typedef struct __mavlink_odometry_t {
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_odometry_t, yawspeed) }, \
{ "pose_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 60, offsetof(mavlink_odometry_t, pose_covariance) }, \
{ "velocity_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 144, offsetof(mavlink_odometry_t, velocity_covariance) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 230, offsetof(mavlink_odometry_t, reset_counter) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_ODOMETRY { \
"ODOMETRY", \
15, \
16, \
{ { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_odometry_t, time_usec) }, \
{ "frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 228, offsetof(mavlink_odometry_t, frame_id) }, \
{ "child_frame_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 229, offsetof(mavlink_odometry_t, child_frame_id) }, \
......@@ -75,6 +77,7 @@ typedef struct __mavlink_odometry_t {
{ "yawspeed", NULL, MAVLINK_TYPE_FLOAT, 0, 56, offsetof(mavlink_odometry_t, yawspeed) }, \
{ "pose_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 60, offsetof(mavlink_odometry_t, pose_covariance) }, \
{ "velocity_covariance", NULL, MAVLINK_TYPE_FLOAT, 21, 144, offsetof(mavlink_odometry_t, velocity_covariance) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 230, offsetof(mavlink_odometry_t, reset_counter) }, \
} \
}
#endif
......@@ -100,10 +103,11 @@ typedef struct __mavlink_odometry_t {
* @param yawspeed [rad/s] Yaw angular speed
* @param pose_covariance Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param velocity_covariance Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_odometry_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
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 *velocity_covariance)
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 *velocity_covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ODOMETRY_LEN];
......@@ -119,6 +123,7 @@ static inline uint16_t mavlink_msg_odometry_pack(uint8_t system_id, uint8_t comp
_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_uint8_t(buf, 230, reset_counter);
_mav_put_float_array(buf, 20, q, 4);
_mav_put_float_array(buf, 60, pose_covariance, 21);
_mav_put_float_array(buf, 144, velocity_covariance, 21);
......@@ -137,6 +142,7 @@ static inline uint16_t mavlink_msg_odometry_pack(uint8_t system_id, uint8_t comp
packet.yawspeed = yawspeed;
packet.frame_id = frame_id;
packet.child_frame_id = child_frame_id;
packet.reset_counter = reset_counter;
mav_array_memcpy(packet.q, q, sizeof(float)*4);
mav_array_memcpy(packet.pose_covariance, pose_covariance, sizeof(float)*21);
mav_array_memcpy(packet.velocity_covariance, velocity_covariance, sizeof(float)*21);
......@@ -168,11 +174,12 @@ static inline uint16_t mavlink_msg_odometry_pack(uint8_t system_id, uint8_t comp
* @param yawspeed [rad/s] Yaw angular speed
* @param pose_covariance Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param velocity_covariance Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
* @return length of the message in bytes (excluding serial stream start sign)
*/
static inline uint16_t mavlink_msg_odometry_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
mavlink_message_t* msg,
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 *velocity_covariance)
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 *velocity_covariance,uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ODOMETRY_LEN];
......@@ -188,6 +195,7 @@ static inline uint16_t mavlink_msg_odometry_pack_chan(uint8_t system_id, uint8_t
_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_uint8_t(buf, 230, reset_counter);
_mav_put_float_array(buf, 20, q, 4);
_mav_put_float_array(buf, 60, pose_covariance, 21);
_mav_put_float_array(buf, 144, velocity_covariance, 21);
......@@ -206,6 +214,7 @@ static inline uint16_t mavlink_msg_odometry_pack_chan(uint8_t system_id, uint8_t
packet.yawspeed = yawspeed;
packet.frame_id = frame_id;
packet.child_frame_id = child_frame_id;
packet.reset_counter = reset_counter;
mav_array_memcpy(packet.q, q, sizeof(float)*4);
mav_array_memcpy(packet.pose_covariance, pose_covariance, sizeof(float)*21);
mav_array_memcpy(packet.velocity_covariance, velocity_covariance, sizeof(float)*21);
......@@ -226,7 +235,7 @@ static inline uint16_t mavlink_msg_odometry_pack_chan(uint8_t system_id, uint8_t
*/
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)
{
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->velocity_covariance);
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->velocity_covariance, odometry->reset_counter);
}
/**
......@@ -240,7 +249,7 @@ static inline uint16_t mavlink_msg_odometry_encode(uint8_t system_id, uint8_t co
*/
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)
{
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->velocity_covariance);
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->velocity_covariance, odometry->reset_counter);
}
/**
......@@ -262,10 +271,11 @@ static inline uint16_t mavlink_msg_odometry_encode_chan(uint8_t system_id, uint8
* @param yawspeed [rad/s] Yaw angular speed
* @param pose_covariance Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param velocity_covariance Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
*/
#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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 *velocity_covariance)
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 *velocity_covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_ODOMETRY_LEN];
......@@ -281,6 +291,7 @@ static inline void mavlink_msg_odometry_send(mavlink_channel_t chan, uint64_t ti
_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_uint8_t(buf, 230, reset_counter);
_mav_put_float_array(buf, 20, q, 4);
_mav_put_float_array(buf, 60, pose_covariance, 21);
_mav_put_float_array(buf, 144, velocity_covariance, 21);
......@@ -299,6 +310,7 @@ static inline void mavlink_msg_odometry_send(mavlink_channel_t chan, uint64_t ti
packet.yawspeed = yawspeed;
packet.frame_id = frame_id;
packet.child_frame_id = child_frame_id;
packet.reset_counter = reset_counter;
mav_array_memcpy(packet.q, q, sizeof(float)*4);
mav_array_memcpy(packet.pose_covariance, pose_covariance, sizeof(float)*21);
mav_array_memcpy(packet.velocity_covariance, velocity_covariance, sizeof(float)*21);
......@@ -314,7 +326,7 @@ static inline void mavlink_msg_odometry_send(mavlink_channel_t chan, uint64_t ti
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->velocity_covariance);
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->velocity_covariance, odometry->reset_counter);
#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
......@@ -328,7 +340,7 @@ static inline void mavlink_msg_odometry_send_struct(mavlink_channel_t chan, cons
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 *velocity_covariance)
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 *velocity_covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
......@@ -344,6 +356,7 @@ static inline void mavlink_msg_odometry_send_buf(mavlink_message_t *msgbuf, mavl
_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_uint8_t(buf, 230, reset_counter);
_mav_put_float_array(buf, 20, q, 4);
_mav_put_float_array(buf, 60, pose_covariance, 21);
_mav_put_float_array(buf, 144, velocity_covariance, 21);
......@@ -362,6 +375,7 @@ static inline void mavlink_msg_odometry_send_buf(mavlink_message_t *msgbuf, mavl
packet->yawspeed = yawspeed;
packet->frame_id = frame_id;
packet->child_frame_id = child_frame_id;
packet->reset_counter = reset_counter;
mav_array_memcpy(packet->q, q, sizeof(float)*4);
mav_array_memcpy(packet->pose_covariance, pose_covariance, sizeof(float)*21);
mav_array_memcpy(packet->velocity_covariance, velocity_covariance, sizeof(float)*21);
......@@ -525,6 +539,16 @@ static inline uint16_t mavlink_msg_odometry_get_velocity_covariance(const mavlin
return _MAV_RETURN_float_array(msg, velocity_covariance, 21, 144);
}
/**
* @brief Get field reset_counter from odometry message
*
* @return Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
*/
static inline uint8_t mavlink_msg_odometry_get_reset_counter(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 230);
}
/**
* @brief Decode a odometry message into a struct
*
......@@ -549,6 +573,7 @@ static inline void mavlink_msg_odometry_decode(const mavlink_message_t* msg, mav
mavlink_msg_odometry_get_velocity_covariance(msg, odometry->velocity_covariance);
odometry->frame_id = mavlink_msg_odometry_get_frame_id(msg);
odometry->child_frame_id = mavlink_msg_odometry_get_child_frame_id(msg);
odometry->reset_counter = mavlink_msg_odometry_get_reset_counter(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);
......
common/mavlink_msg_vision_position_estimate.h
View file @ 171c8370
......@@ -13,11 +13,12 @@ typedef struct __mavlink_vision_position_estimate_t {
float pitch; /*< [rad] Pitch angle*/
float yaw; /*< [rad] Yaw angle*/
float covariance[21]; /*< Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.*/
uint8_t reset_counter; /*< Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.*/
}) mavlink_vision_position_estimate_t;
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 116
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN 117
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_MIN_LEN 32
#define MAVLINK_MSG_ID_102_LEN 116
#define MAVLINK_MSG_ID_102_LEN 117
#define MAVLINK_MSG_ID_102_MIN_LEN 32
#define MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_CRC 158
......@@ -29,7 +30,7 @@ typedef struct __mavlink_vision_position_estimate_t {
#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
102, \
"VISION_POSITION_ESTIMATE", \
8, \
9, \
{ { "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) }, \
......@@ -38,12 +39,13 @@ typedef struct __mavlink_vision_position_estimate_t {
{ "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) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 116, offsetof(mavlink_vision_position_estimate_t, reset_counter) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_VISION_POSITION_ESTIMATE { \
"VISION_POSITION_ESTIMATE", \
8, \
9, \
{ { "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) }, \
......@@ -52,6 +54,7 @@ typedef struct __mavlink_vision_position_estimate_t {
{ "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) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 116, offsetof(mavlink_vision_position_estimate_t, reset_counter) }, \
} \
}
#endif
......@@ -70,10 +73,11 @@ typedef struct __mavlink_vision_position_estimate_t {
* @param pitch [rad] Pitch angle
* @param yaw [rad] Yaw angle
* @param covariance Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
* @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, const float *covariance)
uint64_t usec, float x, float y, float z, float roll, float pitch, float yaw, const float *covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
......@@ -84,6 +88,7 @@ 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_uint8_t(buf, 116, reset_counter);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
#else
......@@ -95,6 +100,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.reset_counter = reset_counter;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
#endif
......@@ -117,11 +123,12 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack(uint8_t system_
* @param pitch [rad] Pitch angle
* @param yaw [rad] Yaw angle
* @param covariance Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
* @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,const float *covariance)
uint64_t usec,float x,float y,float z,float roll,float pitch,float yaw,const float *covariance,uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
......@@ -132,6 +139,7 @@ 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_uint8_t(buf, 116, reset_counter);
_mav_put_float_array(buf, 32, covariance, 21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
#else
......@@ -143,6 +151,7 @@ static inline uint16_t mavlink_msg_vision_position_estimate_pack_chan(uint8_t sy
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.reset_counter = reset_counter;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*21);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN);
#endif
......@@ -161,7 +170,7 @@ 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, vision_position_estimate->covariance);
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, vision_position_estimate->reset_counter);
}
/**
......@@ -175,7 +184,7 @@ 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, vision_position_estimate->covariance);
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, vision_position_estimate->reset_counter);
}
/**
......@@ -190,10 +199,11 @@ static inline uint16_t mavlink_msg_vision_position_estimate_encode_chan(uint8_t
* @param pitch [rad] Pitch angle
* @param yaw [rad] Yaw angle
* @param covariance Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
*/
#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, const float *covariance)
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, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE_LEN];
......@@ -204,6 +214,7 @@ 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_uint8_t(buf, 116, reset_counter);
_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
......@@ -215,6 +226,7 @@ static inline void mavlink_msg_vision_position_estimate_send(mavlink_channel_t c
packet.roll = roll;
packet.pitch = pitch;
packet.yaw = yaw;
packet.reset_counter = reset_counter;
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
......@@ -228,7 +240,7 @@ 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, vision_position_estimate->covariance);
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, vision_position_estimate->reset_counter);
#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
......@@ -242,7 +254,7 @@ 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, const float *covariance)
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, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
......@@ -253,6 +265,7 @@ 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_uint8_t(buf, 116, reset_counter);
_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
......@@ -264,6 +277,7 @@ static inline void mavlink_msg_vision_position_estimate_send_buf(mavlink_message
packet->roll = roll;
packet->pitch = pitch;
packet->yaw = yaw;
packet->reset_counter = reset_counter;
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
......@@ -355,6 +369,16 @@ static inline uint16_t mavlink_msg_vision_position_estimate_get_covariance(const
return _MAV_RETURN_float_array(msg, covariance, 21, 32);
}
/**
* @brief Get field reset_counter from vision_position_estimate message
*
* @return Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
*/
static inline uint8_t mavlink_msg_vision_position_estimate_get_reset_counter(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 116);
}
/**
* @brief Decode a vision_position_estimate message into a struct
*
......@@ -372,6 +396,7 @@ static inline void mavlink_msg_vision_position_estimate_decode(const mavlink_mes
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);
vision_position_estimate->reset_counter = mavlink_msg_vision_position_estimate_get_reset_counter(msg);
#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 @ 171c8370
......@@ -10,11 +10,12 @@ typedef struct __mavlink_vision_speed_estimate_t {
float y; /*< [m/s] Global Y speed*/
float z; /*< [m/s] Global Z speed*/
float covariance[9]; /*< Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.*/
uint8_t reset_counter; /*< Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.*/
}) mavlink_vision_speed_estimate_t;
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 56
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN 57
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_MIN_LEN 20
#define MAVLINK_MSG_ID_103_LEN 56
#define MAVLINK_MSG_ID_103_LEN 57
#define MAVLINK_MSG_ID_103_MIN_LEN 20
#define MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_CRC 208
......@@ -26,23 +27,25 @@ typedef struct __mavlink_vision_speed_estimate_t {
#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
103, \
"VISION_SPEED_ESTIMATE", \
5, \
6, \
{ { "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) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 56, offsetof(mavlink_vision_speed_estimate_t, reset_counter) }, \
} \
}
#else
#define MAVLINK_MESSAGE_INFO_VISION_SPEED_ESTIMATE { \
"VISION_SPEED_ESTIMATE", \
5, \
6, \
{ { "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) }, \
{ "reset_counter", NULL, MAVLINK_TYPE_UINT8_T, 0, 56, offsetof(mavlink_vision_speed_estimate_t, reset_counter) }, \
} \
}
#endif
......@@ -58,10 +61,11 @@ typedef struct __mavlink_vision_speed_estimate_t {
* @param y [m/s] Global Y speed
* @param z [m/s] Global Z speed
* @param covariance Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
* @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, const float *covariance)
uint64_t usec, float x, float y, float z, const float *covariance, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
......@@ -69,6 +73,7 @@ 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_uint8_t(buf, 56, reset_counter);
_mav_put_float_array(buf, 20, covariance, 9);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#else
......@@ -77,6 +82,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id,
packet.x = x;
packet.y = y;
packet.z = z;
packet.reset_counter = reset_counter;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#endif
......@@ -96,11 +102,12 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack(uint8_t system_id,
* @param y [m/s] Global Y speed
* @param z [m/s] Global Z speed
* @param covariance Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
* @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,const float *covariance)
uint64_t usec,float x,float y,float z,const float *covariance,uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
......@@ -108,6 +115,7 @@ 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_uint8_t(buf, 56, reset_counter);
_mav_put_float_array(buf, 20, covariance, 9);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#else
......@@ -116,6 +124,7 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_pack_chan(uint8_t syste
packet.x = x;
packet.y = y;
packet.z = z;
packet.reset_counter = reset_counter;
mav_array_memcpy(packet.covariance, covariance, sizeof(float)*9);
memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN);
#endif
......@@ -134,7 +143,7 @@ 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, vision_speed_estimate->covariance);
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, vision_speed_estimate->reset_counter);
}
/**
......@@ -148,7 +157,7 @@ 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, vision_speed_estimate->covariance);
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, vision_speed_estimate->reset_counter);
}
/**
......@@ -160,10 +169,11 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_encode_chan(uint8_t sys
* @param y [m/s] Global Y speed
* @param z [m/s] Global Z speed
* @param covariance Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.
* @param reset_counter Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
*/
#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, const float *covariance)
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, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char buf[MAVLINK_MSG_ID_VISION_SPEED_ESTIMATE_LEN];
......@@ -171,6 +181,7 @@ 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_uint8_t(buf, 56, reset_counter);
_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
......@@ -179,6 +190,7 @@ static inline void mavlink_msg_vision_speed_estimate_send(mavlink_channel_t chan
packet.x = x;
packet.y = y;
packet.z = z;
packet.reset_counter = reset_counter;
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
......@@ -192,7 +204,7 @@ 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, vision_speed_estimate->covariance);
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, vision_speed_estimate->reset_counter);
#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
......@@ -206,7 +218,7 @@ 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, const float *covariance)
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, uint8_t reset_counter)
{
#if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
char *buf = (char *)msgbuf;
......@@ -214,6 +226,7 @@ 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_uint8_t(buf, 56, reset_counter);
_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
......@@ -222,6 +235,7 @@ static inline void mavlink_msg_vision_speed_estimate_send_buf(mavlink_message_t
packet->x = x;
packet->y = y;
packet->z = z;
packet->reset_counter = reset_counter;
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
......@@ -283,6 +297,16 @@ static inline uint16_t mavlink_msg_vision_speed_estimate_get_covariance(const ma
return _MAV_RETURN_float_array(msg, covariance, 9, 20);
}
/**
* @brief Get field reset_counter from vision_speed_estimate message
*
* @return Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.
*/
static inline uint8_t mavlink_msg_vision_speed_estimate_get_reset_counter(const mavlink_message_t* msg)
{
return _MAV_RETURN_uint8_t(msg, 56);
}
/**
* @brief Decode a vision_speed_estimate message into a struct
*
......@@ -297,6 +321,7 @@ static inline void mavlink_msg_vision_speed_estimate_decode(const mavlink_messag
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);
vision_speed_estimate->reset_counter = mavlink_msg_vision_speed_estimate_get_reset_counter(msg);
#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 @ 171c8370
......@@ -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,{ 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 }
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 },97
};
mavlink_global_vision_position_estimate_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
......@@ -4251,6 +4251,7 @@ static void mavlink_test_global_vision_position_estimate(uint8_t system_id, uint
packet1.roll = packet_in.roll;
packet1.pitch = packet_in.pitch;
packet1.yaw = packet_in.yaw;
packet1.reset_counter = packet_in.reset_counter;
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*21);
......@@ -4266,12 +4267,12 @@ 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 , packet1.covariance );
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 , packet1.reset_counter );
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 , packet1.covariance );
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 , packet1.reset_counter );
mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
......@@ -4284,7 +4285,7 @@ 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 , packet1.covariance );
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 , packet1.reset_counter );
mavlink_msg_global_vision_position_estimate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
......@@ -4301,7 +4302,7 @@ 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,{ 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 }
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 },97
};
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.roll = packet_in.roll;
packet1.pitch = packet_in.pitch;
packet1.yaw = packet_in.yaw;
packet1.reset_counter = packet_in.reset_counter;
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*21);
......@@ -4327,12 +4329,12 @@ 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 , packet1.covariance );
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 , packet1.reset_counter );
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 , packet1.covariance );
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 , packet1.reset_counter );
mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
......@@ -4345,7 +4347,7 @@ 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 , packet1.covariance );
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 , packet1.reset_counter );
mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
......@@ -4362,7 +4364,7 @@ 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,{ 157.0, 158.0, 159.0, 160.0, 161.0, 162.0, 163.0, 164.0, 165.0 }
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 },173
};
mavlink_vision_speed_estimate_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
......@@ -4370,6 +4372,7 @@ static void mavlink_test_vision_speed_estimate(uint8_t system_id, uint8_t compon
packet1.x = packet_in.x;
packet1.y = packet_in.y;
packet1.z = packet_in.z;
packet1.reset_counter = packet_in.reset_counter;
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*9);
......@@ -4385,12 +4388,12 @@ 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 , packet1.covariance );
mavlink_msg_vision_speed_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.covariance , packet1.reset_counter );
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 , packet1.covariance );
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 , packet1.reset_counter );
mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
......@@ -4403,7 +4406,7 @@ 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 , packet1.covariance );
mavlink_msg_vision_speed_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.covariance , packet1.reset_counter );
mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
......@@ -9863,7 +9866,7 @@ static void mavlink_test_odometry(uint8_t system_id, uint8_t component_id, mavli
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
uint16_t i;
mavlink_odometry_t packet_in = {
93372036854775807ULL,73.0,101.0,129.0,{ 157.0, 158.0, 159.0, 160.0 },269.0,297.0,325.0,353.0,381.0,409.0,{ 437.0, 438.0, 439.0, 440.0, 441.0, 442.0, 443.0, 444.0, 445.0, 446.0, 447.0, 448.0, 449.0, 450.0, 451.0, 452.0, 453.0, 454.0, 455.0, 456.0, 457.0 },{ 1025.0, 1026.0, 1027.0, 1028.0, 1029.0, 1030.0, 1031.0, 1032.0, 1033.0, 1034.0, 1035.0, 1036.0, 1037.0, 1038.0, 1039.0, 1040.0, 1041.0, 1042.0, 1043.0, 1044.0, 1045.0 },177,244
93372036854775807ULL,73.0,101.0,129.0,{ 157.0, 158.0, 159.0, 160.0 },269.0,297.0,325.0,353.0,381.0,409.0,{ 437.0, 438.0, 439.0, 440.0, 441.0, 442.0, 443.0, 444.0, 445.0, 446.0, 447.0, 448.0, 449.0, 450.0, 451.0, 452.0, 453.0, 454.0, 455.0, 456.0, 457.0 },{ 1025.0, 1026.0, 1027.0, 1028.0, 1029.0, 1030.0, 1031.0, 1032.0, 1033.0, 1034.0, 1035.0, 1036.0, 1037.0, 1038.0, 1039.0, 1040.0, 1041.0, 1042.0, 1043.0, 1044.0, 1045.0 },177,244,55
};
mavlink_odometry_t packet1, packet2;
memset(&packet1, 0, sizeof(packet1));
......@@ -9879,6 +9882,7 @@ static void mavlink_test_odometry(uint8_t system_id, uint8_t component_id, mavli
packet1.yawspeed = packet_in.yawspeed;
packet1.frame_id = packet_in.frame_id;
packet1.child_frame_id = packet_in.child_frame_id;
packet1.reset_counter = packet_in.reset_counter;
mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4);
mav_array_memcpy(packet1.pose_covariance, packet_in.pose_covariance, sizeof(float)*21);
......@@ -9896,12 +9900,12 @@ static void mavlink_test_odometry(uint8_t system_id, uint8_t component_id, mavli
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_odometry_pack(system_id, component_id, &msg , packet1.time_usec , packet1.frame_id , packet1.child_frame_id , packet1.x , packet1.y , packet1.z , packet1.q , packet1.vx , packet1.vy , packet1.vz , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.pose_covariance , packet1.velocity_covariance );
mavlink_msg_odometry_pack(system_id, component_id, &msg , packet1.time_usec , packet1.frame_id , packet1.child_frame_id , packet1.x , packet1.y , packet1.z , packet1.q , packet1.vx , packet1.vy , packet1.vz , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.pose_covariance , packet1.velocity_covariance , packet1.reset_counter );
mavlink_msg_odometry_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_odometry_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.frame_id , packet1.child_frame_id , packet1.x , packet1.y , packet1.z , packet1.q , packet1.vx , packet1.vy , packet1.vz , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.pose_covariance , packet1.velocity_covariance );
mavlink_msg_odometry_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.frame_id , packet1.child_frame_id , packet1.x , packet1.y , packet1.z , packet1.q , packet1.vx , packet1.vy , packet1.vz , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.pose_covariance , packet1.velocity_covariance , packet1.reset_counter );
mavlink_msg_odometry_decode(&msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
......@@ -9914,7 +9918,7 @@ static void mavlink_test_odometry(uint8_t system_id, uint8_t component_id, mavli
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
memset(&packet2, 0, sizeof(packet2));
mavlink_msg_odometry_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.frame_id , packet1.child_frame_id , packet1.x , packet1.y , packet1.z , packet1.q , packet1.vx , packet1.vy , packet1.vz , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.pose_covariance , packet1.velocity_covariance );
mavlink_msg_odometry_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.frame_id , packet1.child_frame_id , packet1.x , packet1.y , packet1.z , packet1.q , packet1.vx , packet1.vy , packet1.vz , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.pose_covariance , packet1.velocity_covariance , packet1.reset_counter );
mavlink_msg_odometry_decode(last_msg, &packet2);
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}
......
common/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
icarous/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
matrixpilot/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
message_definitions/common.xml
View file @ 171c8370
......@@ -3998,6 +3998,7 @@
<field type="float" name="yaw" units="rad">Yaw angle</field>
<extensions/>
<field type="float[21]" name="covariance">Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x_global, y_global, z_global, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.</field>
<field type="uint8_t" name="reset_counter">Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.</field>
</message>
<message id="102" name="VISION_POSITION_ESTIMATE">
<description>Global position/attitude estimate from a vision source.</description>
......@@ -4010,6 +4011,7 @@
<field type="float" name="yaw" units="rad">Yaw angle</field>
<extensions/>
<field type="float[21]" name="covariance">Row-major representation of pose 6x6 cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.</field>
<field type="uint8_t" name="reset_counter">Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.</field>
</message>
<message id="103" name="VISION_SPEED_ESTIMATE">
<description>Speed estimate from a vision source.</description>
......@@ -4019,6 +4021,7 @@
<field type="float" name="z" units="m/s">Global Z speed</field>
<extensions/>
<field type="float[9]" name="covariance">Row-major representation of 3x3 linear velocity covariance matrix (states: vx, vy, vz; 1st three entries - 1st row, etc.). If unknown, assign NaN value to first element in the array.</field>
<field type="uint8_t" name="reset_counter">Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.</field>
</message>
<message id="104" name="VICON_POSITION_ESTIMATE">
<description>Global position estimate from a Vicon motion system source.</description>
......@@ -5005,6 +5008,8 @@
<field type="float" name="yawspeed" units="rad/s">Yaw angular speed</field>
<field type="float[21]" name="pose_covariance">Row-major representation of a 6x6 pose cross-covariance matrix upper right triangle (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.</field>
<field type="float[21]" name="velocity_covariance">Row-major representation of a 6x6 velocity cross-covariance matrix upper right triangle (states: vx, vy, vz, rollspeed, pitchspeed, yawspeed; first six entries are the first ROW, next five entries are the second ROW, etc.). If unknown, assign NaN value to first element in the array.</field>
<extensions/>
<field type="uint8_t" name="reset_counter">Estimate reset counter. This should be incremented when the estimate resets in any of the dimensions (position, velocity, attitude, angular speed). This is designed to be used when e.g an external SLAM system detects a loop-closure and the estimate jumps.</field>
</message>
<message id="332" name="TRAJECTORY_REPRESENTATION_WAYPOINTS">
<wip/>
......
minimal/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 9
......
slugs/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
standard/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
test/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 179
......
uAvionix/version.h
View file @ 171c8370
......@@ -7,7 +7,7 @@
#ifndef MAVLINK_VERSION_H
#define MAVLINK_VERSION_H
#define MAVLINK_BUILD_DATE "Wed Mar 27 2019"
#define MAVLINK_BUILD_DATE "Mon Apr 01 2019"
#define MAVLINK_WIRE_PROTOCOL_VERSION "2.0"
#define MAVLINK_MAX_DIALECT_PAYLOAD_SIZE 255
......
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