/* AUTO-GENERATED FILE. DO NOT MODIFY.
*
* This class was automatically generated by the
* java mavlink generator tool. It should not be modified by hand.
*/
// MESSAGE LOCAL_POSITION_NED_COV PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;
/**
* The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)
*/
public class msg_local_position_ned_cov extends MAVLinkMessage{
public static final int MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV = 64;
public static final int MAVLINK_MSG_LENGTH = 229;
private static final long serialVersionUID = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
/**
* Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
*/
public long time_utc;
/**
* Timestamp (milliseconds since system boot). 0 for system without monotonic timestamp
*/
public long time_boot_ms;
/**
* X Position
*/
public float x;
/**
* Y Position
*/
public float y;
/**
* Z Position
*/
public float z;
/**
* X Speed (m/s)
*/
public float vx;
/**
* Y Speed (m/s)
*/
public float vy;
/**
* Z Speed (m/s)
*/
public float vz;
/**
* X Acceleration (m/s^2)
*/
public float ax;
/**
* Y Acceleration (m/s^2)
*/
public float ay;
/**
* Z Acceleration (m/s^2)
*/
public float az;
/**
* Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.)
*/
public float covariance[] = new float[45];
/**
* Class id of the estimator this estimate originated from.
*/
public short estimator_type;
/**
* Generates the payload for a mavlink message for a message of this type
* @return
*/
public MAVLinkPacket pack(){
MAVLinkPacket packet = new MAVLinkPacket(MAVLINK_MSG_LENGTH);
packet.sysid = 255;
packet.compid = 190;
packet.msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
packet.payload.putUnsignedLong(time_utc);
packet.payload.putUnsignedInt(time_boot_ms);
packet.payload.putFloat(x);
packet.payload.putFloat(y);
packet.payload.putFloat(z);
packet.payload.putFloat(vx);
packet.payload.putFloat(vy);
packet.payload.putFloat(vz);
packet.payload.putFloat(ax);
packet.payload.putFloat(ay);
packet.payload.putFloat(az);
for (int i = 0; i < covariance.length; i++) {
packet.payload.putFloat(covariance[i]);
}
packet.payload.putUnsignedByte(estimator_type);
return packet;
}
/**
* Decode a local_position_ned_cov message into this class fields
*
* @param payload The message to decode
*/
public void unpack(MAVLinkPayload payload) {
payload.resetIndex();
this.time_utc = payload.getUnsignedLong();
this.time_boot_ms = payload.getUnsignedInt();
this.x = payload.getFloat();
this.y = payload.getFloat();
this.z = payload.getFloat();
this.vx = payload.getFloat();
this.vy = payload.getFloat();
this.vz = payload.getFloat();
this.ax = payload.getFloat();
this.ay = payload.getFloat();
this.az = payload.getFloat();
for (int i = 0; i < this.covariance.length; i++) {
this.covariance[i] = payload.getFloat();
}
this.estimator_type = payload.getUnsignedByte();
}
/**
* Constructor for a new message, just initializes the msgid
*/
public msg_local_position_ned_cov(){
msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
}
/**
* Constructor for a new message, initializes the message with the payload
* from a mavlink packet
*
*/
public msg_local_position_ned_cov(MAVLinkPacket mavLinkPacket){
this.sysid = mavLinkPacket.sysid;
this.compid = mavLinkPacket.compid;
this.msgid = MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV;
unpack(mavLinkPacket.payload);
}
/**
* Returns a string with the MSG name and data
*/
public String toString(){
return "MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV -"+" time_utc:"+time_utc+" time_boot_ms:"+time_boot_ms+" x:"+x+" y:"+y+" z:"+z+" vx:"+vx+" vy:"+vy+" vz:"+vz+" ax:"+ax+" ay:"+ay+" az:"+az+" covariance:"+covariance+" estimator_type:"+estimator_type+"";
}
}