Struct HomePosition 

pub struct HomePosition {
    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,
}

MAVLink HOME_POSITION message.

The minimum supported MAVLink version is MAVLink 1.

Description

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).

Encoding/Decoding

Message encoding/decoding are provided by implementing core::convert::TryFrom<Payload> for HomePosition (encoding) and [IntoPayload] (decoding) traits. These traits are implemented by Message proc macro.

Fields

latitude: i32

MAVLink field latitude.

Latitude (WGS84)

longitude: i32

MAVLink field longitude.

Longitude (WGS84)

altitude: i32

MAVLink field altitude.

Altitude (MSL). Positive for up.

x: f32

MAVLink field x.

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

y: f32

MAVLink field y.

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

z: f32

MAVLink field z.

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

q: [f32; 4]

MAVLink field q.

Quaternion indicating world-to-surface-normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground. All fields should be set to NaN if an accurate quaternion for both heading and surface slope cannot be supplied.

approach_x: f32

MAVLink field approach_x.

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

MAVLink field approach_y.

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

MAVLink field approach_z.

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

MAVLink field time_usec.

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 HomePosition

pub const ID: MessageId = 242u32

MavLink message ID.

pub const fn spec() -> MessageInfo

Returns specification for this message.

pub const fn message_id() -> MessageId

Message ID.

pub const fn crc_extra() -> CrcExtra

Message CRC_EXTRA.

pub const fn min_supported_mavlink_version() -> MavLinkVersion

Minimum supported MAVLink version for this message.

Trait Implementations

impl Clone for HomePosition

fn clone(&self) -> HomePosition

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for HomePosition

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

Formats the value using the given formatter.

impl Default for HomePosition

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for HomePosition

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<HomePosition> for Common

fn from(value: HomePosition) -> Self

Converts to this type from the input type.

impl IntoPayload for HomePosition

fn encode(&self, version: MavLinkVersion) -> Result<Payload, SpecError>

Encodes message into MAVLink payload.

impl MessageSpec for HomePosition

fn id(&self) -> MessageId

MAVLink message ID.

fn min_supported_mavlink_version(&self) -> MavLinkVersion

Minimum supported MAVLink protocol version.

fn crc_extra(&self) -> CrcExtra

Message EXTRA_CRC calculated from message XML definition.

impl MessageSpecStatic for HomePosition

fn spec() -> MessageInfo

Returns specification for this message.

fn message_id() -> MessageId

Message ID.

fn crc_extra() -> CrcExtra

Message CRC_EXTRA.

fn min_supported_mavlink_version() -> MavLinkVersion

Minimum supported MAVLink version for this message.

impl NamedType for HomePosition

fn sid() -> SpectaID

fn named_data_type( type_map: &mut TypeCollection, generics: &[DataType], ) -> NamedDataType

this is equivalent to Type::inline but returns a NamedDataType instead.

fn definition_named_data_type(type_map: &mut TypeCollection) -> NamedDataType

this is equivalent to [Type::definition] but returns a NamedDataType instead.

impl PartialEq for HomePosition

fn eq(&self, other: &HomePosition) -> 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 HomePosition

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

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl TryFrom<&Payload> for HomePosition

type Error = SpecError

The type returned in the event of a conversion error.

fn try_from(value: &Payload) -> Result<Self, Self::Error>

Performs the conversion.

impl Type for HomePosition

fn inline(type_map: &mut TypeCollection, generics: Generics<'_>) -> DataType

Returns the definition of a type using the provided generics.

fn reference(type_map: &mut TypeCollection, generics: &[DataType]) -> Reference

Generates a datatype corresponding to a reference to this type, as determined by its category. Getting a reference to a type implies that it should belong in the type map (since it has to be referenced from somewhere), so the output of definition will be put into the type map.

impl Flatten for HomePosition

impl Message for HomePosition

impl StructuralPartialEq for HomePosition