Struct HOME_POSITION_DATA

pub struct HOME_POSITION_DATA {
    pub latitude: i32,
    pub longitude: i32,
    pub altitude: i32,
    pub x: f32,
    pub y: f32,
    pub z: f32,
    pub q: [f32; 4],
    pub approach_x: f32,
    pub approach_y: f32,
    pub approach_z: f32,
    pub time_usec: u64,
}

Available on crate feature ualberta only.

id: 242 Contains the home position. The home position is the default position that the system will return to and land on. The position must be set automatically by the system during the takeoff, and may also be explicitly set using MAV_CMD_DO_SET_HOME. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector. Note: this message can be requested by sending the MAV_CMD_REQUEST_MESSAGE with param1=242 (or the deprecated MAV_CMD_GET_HOME_POSITION command)..

Fields

latitude: i32

Latitude (WGS84).

longitude: i32

Longitude (WGS84).

altitude: i32

Altitude (MSL). Positive for up..

x: f32

Local X position of this position in the local coordinate frame (NED).

y: f32

Local Y position of this position in the local coordinate frame (NED).

z: f32

Local Z position of this position in the local coordinate frame (NED: positive “down”).

q: [f32; 4]

World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground.

approach_x: f32

Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone..

approach_y: f32

Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone..

approach_z: f32

Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone..

time_usec: u64

Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number..

Implementations

impl HOME_POSITION_DATA

pub const ENCODED_LEN: usize = 60usize

pub const DEFAULT: Self

Trait Implementations

impl Clone for HOME_POSITION_DATA

fn clone(&self) -> HOME_POSITION_DATA

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for HOME_POSITION_DATA

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for HOME_POSITION_DATA

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for HOME_POSITION_DATA

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl MessageData for HOME_POSITION_DATA

const ID: u32 = 242u32

const NAME: &'static str = "HOME_POSITION"

const EXTRA_CRC: u8 = 104u8

const ENCODED_LEN: usize = 60usize

type Message = MavMessage

fn deser(_version: MavlinkVersion, __input: &[u8]) -> Result<Self, ParserError>

fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize

impl PartialEq for HOME_POSITION_DATA

fn eq(&self, other: &HOME_POSITION_DATA) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Serialize for HOME_POSITION_DATA

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for HOME_POSITION_DATA