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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 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 | } |