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Rev | Author | Line No. | Line |
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1702 | - | 1 | // MESSAGE GPS_RAW PACKING |
2 | |||
3 | #define MAVLINK_MSG_ID_GPS_RAW 32 |
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4 | |||
5 | typedef struct __mavlink_gps_raw_t |
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6 | { |
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7 | uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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8 | uint8_t fix_type; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. |
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9 | float lat; ///< Latitude in degrees |
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10 | float lon; ///< Longitude in degrees |
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11 | float alt; ///< Altitude in meters |
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12 | float eph; ///< GPS HDOP |
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13 | float epv; ///< GPS VDOP |
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14 | float v; ///< GPS ground speed |
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15 | float hdg; ///< Compass heading in degrees, 0..360 degrees |
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16 | } mavlink_gps_raw_t; |
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17 | |||
18 | #define MAVLINK_MSG_ID_GPS_RAW_LEN 37 |
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19 | #define MAVLINK_MSG_ID_32_LEN 37 |
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20 | |||
21 | |||
22 | |||
23 | #define MAVLINK_MESSAGE_INFO_GPS_RAW { \ |
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24 | "GPS_RAW", \ |
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25 | 9, \ |
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26 | { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_t, usec) }, \ |
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27 | { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_t, fix_type) }, \ |
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28 | { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_gps_raw_t, lat) }, \ |
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29 | { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_gps_raw_t, lon) }, \ |
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30 | { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_gps_raw_t, alt) }, \ |
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31 | { "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_t, eph) }, \ |
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32 | { "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_t, epv) }, \ |
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33 | { "v", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_t, v) }, \ |
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34 | { "hdg", NULL, MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_t, hdg) }, \ |
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35 | } \ |
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36 | } |
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37 | |||
38 | |||
39 | /** |
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40 | * @brief Pack a gps_raw message |
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41 | * @param system_id ID of this system |
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42 | * @param component_id ID of this component (e.g. 200 for IMU) |
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43 | * @param msg The MAVLink message to compress the data into |
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44 | * |
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45 | * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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46 | * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. |
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47 | * @param lat Latitude in degrees |
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48 | * @param lon Longitude in degrees |
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49 | * @param alt Altitude in meters |
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50 | * @param eph GPS HDOP |
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51 | * @param epv GPS VDOP |
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52 | * @param v GPS ground speed |
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53 | * @param hdg Compass heading in degrees, 0..360 degrees |
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54 | * @return length of the message in bytes (excluding serial stream start sign) |
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55 | */ |
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56 | static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
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57 | uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg) |
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58 | { |
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59 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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60 | char buf[37]; |
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61 | _mav_put_uint64_t(buf, 0, usec); |
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62 | _mav_put_uint8_t(buf, 8, fix_type); |
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63 | _mav_put_float(buf, 9, lat); |
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64 | _mav_put_float(buf, 13, lon); |
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65 | _mav_put_float(buf, 17, alt); |
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66 | _mav_put_float(buf, 21, eph); |
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67 | _mav_put_float(buf, 25, epv); |
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68 | _mav_put_float(buf, 29, v); |
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69 | _mav_put_float(buf, 33, hdg); |
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70 | |||
71 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 37); |
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72 | #else |
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73 | mavlink_gps_raw_t packet; |
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74 | packet.usec = usec; |
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75 | packet.fix_type = fix_type; |
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76 | packet.lat = lat; |
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77 | packet.lon = lon; |
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78 | packet.alt = alt; |
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79 | packet.eph = eph; |
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80 | packet.epv = epv; |
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81 | packet.v = v; |
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82 | packet.hdg = hdg; |
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83 | |||
84 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 37); |
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85 | #endif |
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86 | |||
87 | msg->msgid = MAVLINK_MSG_ID_GPS_RAW; |
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88 | return mavlink_finalize_message(msg, system_id, component_id, 37); |
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89 | } |
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90 | |||
91 | /** |
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92 | * @brief Pack a gps_raw message on a channel |
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93 | * @param system_id ID of this system |
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94 | * @param component_id ID of this component (e.g. 200 for IMU) |
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95 | * @param chan The MAVLink channel this message was sent over |
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96 | * @param msg The MAVLink message to compress the data into |
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97 | * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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98 | * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. |
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99 | * @param lat Latitude in degrees |
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100 | * @param lon Longitude in degrees |
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101 | * @param alt Altitude in meters |
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102 | * @param eph GPS HDOP |
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103 | * @param epv GPS VDOP |
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104 | * @param v GPS ground speed |
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105 | * @param hdg Compass heading in degrees, 0..360 degrees |
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106 | * @return length of the message in bytes (excluding serial stream start sign) |
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107 | */ |
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108 | static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
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109 | mavlink_message_t* msg, |
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110 | uint64_t usec,uint8_t fix_type,float lat,float lon,float alt,float eph,float epv,float v,float hdg) |
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111 | { |
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112 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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113 | char buf[37]; |
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114 | _mav_put_uint64_t(buf, 0, usec); |
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115 | _mav_put_uint8_t(buf, 8, fix_type); |
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116 | _mav_put_float(buf, 9, lat); |
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117 | _mav_put_float(buf, 13, lon); |
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118 | _mav_put_float(buf, 17, alt); |
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119 | _mav_put_float(buf, 21, eph); |
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120 | _mav_put_float(buf, 25, epv); |
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121 | _mav_put_float(buf, 29, v); |
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122 | _mav_put_float(buf, 33, hdg); |
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123 | |||
124 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 37); |
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125 | #else |
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126 | mavlink_gps_raw_t packet; |
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127 | packet.usec = usec; |
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128 | packet.fix_type = fix_type; |
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129 | packet.lat = lat; |
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130 | packet.lon = lon; |
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131 | packet.alt = alt; |
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132 | packet.eph = eph; |
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133 | packet.epv = epv; |
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134 | packet.v = v; |
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135 | packet.hdg = hdg; |
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136 | |||
137 | memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 37); |
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138 | #endif |
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139 | |||
140 | msg->msgid = MAVLINK_MSG_ID_GPS_RAW; |
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141 | return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37); |
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142 | } |
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143 | |||
144 | /** |
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145 | * @brief Encode a gps_raw struct into a message |
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146 | * |
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147 | * @param system_id ID of this system |
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148 | * @param component_id ID of this component (e.g. 200 for IMU) |
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149 | * @param msg The MAVLink message to compress the data into |
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150 | * @param gps_raw C-struct to read the message contents from |
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151 | */ |
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152 | static inline uint16_t mavlink_msg_gps_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_raw_t* gps_raw) |
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153 | { |
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154 | return mavlink_msg_gps_raw_pack(system_id, component_id, msg, gps_raw->usec, gps_raw->fix_type, gps_raw->lat, gps_raw->lon, gps_raw->alt, gps_raw->eph, gps_raw->epv, gps_raw->v, gps_raw->hdg); |
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155 | } |
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156 | |||
157 | /** |
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158 | * @brief Send a gps_raw message |
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159 | * @param chan MAVLink channel to send the message |
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160 | * |
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161 | * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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162 | * @param fix_type 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. |
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163 | * @param lat Latitude in degrees |
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164 | * @param lon Longitude in degrees |
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165 | * @param alt Altitude in meters |
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166 | * @param eph GPS HDOP |
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167 | * @param epv GPS VDOP |
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168 | * @param v GPS ground speed |
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169 | * @param hdg Compass heading in degrees, 0..360 degrees |
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170 | */ |
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171 | #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
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172 | |||
173 | static inline void mavlink_msg_gps_raw_send(mavlink_channel_t chan, uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg) |
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174 | { |
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175 | #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
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176 | char buf[37]; |
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177 | _mav_put_uint64_t(buf, 0, usec); |
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178 | _mav_put_uint8_t(buf, 8, fix_type); |
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179 | _mav_put_float(buf, 9, lat); |
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180 | _mav_put_float(buf, 13, lon); |
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181 | _mav_put_float(buf, 17, alt); |
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182 | _mav_put_float(buf, 21, eph); |
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183 | _mav_put_float(buf, 25, epv); |
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184 | _mav_put_float(buf, 29, v); |
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185 | _mav_put_float(buf, 33, hdg); |
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186 | |||
187 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, buf, 37); |
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188 | #else |
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189 | mavlink_gps_raw_t packet; |
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190 | packet.usec = usec; |
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191 | packet.fix_type = fix_type; |
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192 | packet.lat = lat; |
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193 | packet.lon = lon; |
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194 | packet.alt = alt; |
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195 | packet.eph = eph; |
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196 | packet.epv = epv; |
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197 | packet.v = v; |
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198 | packet.hdg = hdg; |
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199 | |||
200 | _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, (const char *)&packet, 37); |
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201 | #endif |
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202 | } |
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203 | |||
204 | #endif |
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205 | |||
206 | // MESSAGE GPS_RAW UNPACKING |
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207 | |||
208 | |||
209 | /** |
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210 | * @brief Get field usec from gps_raw message |
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211 | * |
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212 | * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
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213 | */ |
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214 | static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg) |
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215 | { |
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216 | return _MAV_RETURN_uint64_t(msg, 0); |
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217 | } |
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218 | |||
219 | /** |
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220 | * @brief Get field fix_type from gps_raw message |
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221 | * |
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222 | * @return 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. |
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223 | */ |
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224 | static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg) |
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225 | { |
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226 | return _MAV_RETURN_uint8_t(msg, 8); |
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227 | } |
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228 | |||
229 | /** |
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230 | * @brief Get field lat from gps_raw message |
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231 | * |
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232 | * @return Latitude in degrees |
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233 | */ |
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234 | static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg) |
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235 | { |
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236 | return _MAV_RETURN_float(msg, 9); |
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237 | } |
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238 | |||
239 | /** |
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240 | * @brief Get field lon from gps_raw message |
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241 | * |
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242 | * @return Longitude in degrees |
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243 | */ |
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244 | static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg) |
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245 | { |
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246 | return _MAV_RETURN_float(msg, 13); |
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247 | } |
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248 | |||
249 | /** |
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250 | * @brief Get field alt from gps_raw message |
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251 | * |
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252 | * @return Altitude in meters |
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253 | */ |
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254 | static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg) |
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255 | { |
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256 | return _MAV_RETURN_float(msg, 17); |
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257 | } |
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258 | |||
259 | /** |
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260 | * @brief Get field eph from gps_raw message |
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261 | * |
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262 | * @return GPS HDOP |
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263 | */ |
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264 | static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg) |
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265 | { |
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266 | return _MAV_RETURN_float(msg, 21); |
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267 | } |
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268 | |||
269 | /** |
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270 | * @brief Get field epv from gps_raw message |
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271 | * |
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272 | * @return GPS VDOP |
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273 | */ |
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274 | static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg) |
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275 | { |
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276 | return _MAV_RETURN_float(msg, 25); |
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277 | } |
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278 | |||
279 | /** |
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280 | * @brief Get field v from gps_raw message |
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281 | * |
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282 | * @return GPS ground speed |
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283 | */ |
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284 | static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg) |
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285 | { |
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286 | return _MAV_RETURN_float(msg, 29); |
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287 | } |
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288 | |||
289 | /** |
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290 | * @brief Get field hdg from gps_raw message |
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291 | * |
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292 | * @return Compass heading in degrees, 0..360 degrees |
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293 | */ |
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294 | static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg) |
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295 | { |
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296 | return _MAV_RETURN_float(msg, 33); |
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297 | } |
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298 | |||
299 | /** |
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300 | * @brief Decode a gps_raw message into a struct |
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301 | * |
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302 | * @param msg The message to decode |
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303 | * @param gps_raw C-struct to decode the message contents into |
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304 | */ |
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305 | static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw) |
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306 | { |
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307 | #if MAVLINK_NEED_BYTE_SWAP |
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308 | gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg); |
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309 | gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg); |
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310 | gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg); |
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311 | gps_raw->lon = mavlink_msg_gps_raw_get_lon(msg); |
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312 | gps_raw->alt = mavlink_msg_gps_raw_get_alt(msg); |
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313 | gps_raw->eph = mavlink_msg_gps_raw_get_eph(msg); |
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314 | gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg); |
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315 | gps_raw->v = mavlink_msg_gps_raw_get_v(msg); |
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316 | gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg); |
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317 | #else |
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318 | memcpy(gps_raw, _MAV_PAYLOAD(msg), 37); |
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319 | #endif |
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320 | } |