msg_vicon_position_estimate.java

/* 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 VICON_POSITION_ESTIMATE PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Messages.MAVLinkMessage;
import com.MAVLink.Messages.MAVLinkPayload;

/**
* 
*/
public class msg_vicon_position_estimate extends MAVLinkMessage{

    public static final int MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE = 104;
    public static final int MAVLINK_MSG_LENGTH = 32;
    private static final long serialVersionUID = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;


    
    /**
    * Timestamp (microseconds, synced to UNIX time or since system boot)
    */
    public long usec;
    
    /**
    * Global X position
    */
    public float x;
    
    /**
    * Global Y position
    */
    public float y;
    
    /**
    * Global Z position
    */
    public float z;
    
    /**
    * Roll angle in rad
    */
    public float roll;
    
    /**
    * Pitch angle in rad
    */
    public float pitch;
    
    /**
    * Yaw angle in rad
    */
    public float yaw;
    

    /**
    * 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_VICON_POSITION_ESTIMATE;
        
        packet.payload.putUnsignedLong(usec);
        
        packet.payload.putFloat(x);
        
        packet.payload.putFloat(y);
        
        packet.payload.putFloat(z);
        
        packet.payload.putFloat(roll);
        
        packet.payload.putFloat(pitch);
        
        packet.payload.putFloat(yaw);
        
        return packet;
    }

    /**
    * Decode a vicon_position_estimate message into this class fields
    *
    * @param payload The message to decode
    */
    public void unpack(MAVLinkPayload payload) {
        payload.resetIndex();
        
        this.usec = payload.getUnsignedLong();
        
        this.x = payload.getFloat();
        
        this.y = payload.getFloat();
        
        this.z = payload.getFloat();
        
        this.roll = payload.getFloat();
        
        this.pitch = payload.getFloat();
        
        this.yaw = payload.getFloat();
        
    }

    /**
    * Constructor for a new message, just initializes the msgid
    */
    public msg_vicon_position_estimate(){
        msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
    }

    /**
    * Constructor for a new message, initializes the message with the payload
    * from a mavlink packet
    *
    */
    public msg_vicon_position_estimate(MAVLinkPacket mavLinkPacket){
        this.sysid = mavLinkPacket.sysid;
        this.compid = mavLinkPacket.compid;
        this.msgid = MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE;
        unpack(mavLinkPacket.payload);
    }

                  
    /**
    * Returns a string with the MSG name and data
    */
    public String toString(){
        return "MAVLINK_MSG_ID_VICON_POSITION_ESTIMATE -"+" usec:"+usec+" x:"+x+" y:"+y+" z:"+z+" roll:"+roll+" pitch:"+pitch+" yaw:"+yaw+"";
    }
}