| 0,0 → 1,320 |
|---|
| // MESSAGE GPS_RAW PACKING |
| |
| #define MAVLINK_MSG_ID_GPS_RAW 32 |
| |
| typedef struct __mavlink_gps_raw_t |
| { |
| uint64_t usec; ///< Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
| 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. |
| float lat; ///< Latitude in degrees |
| float lon; ///< Longitude in degrees |
| float alt; ///< Altitude in meters |
| float eph; ///< GPS HDOP |
| float epv; ///< GPS VDOP |
| float v; ///< GPS ground speed |
| float hdg; ///< Compass heading in degrees, 0..360 degrees |
| } mavlink_gps_raw_t; |
| |
| #define MAVLINK_MSG_ID_GPS_RAW_LEN 37 |
| #define MAVLINK_MSG_ID_32_LEN 37 |
| |
| |
| |
| #define MAVLINK_MESSAGE_INFO_GPS_RAW { \ |
| "GPS_RAW", \ |
| 9, \ |
| { { "usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps_raw_t, usec) }, \ |
| { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 8, offsetof(mavlink_gps_raw_t, fix_type) }, \ |
| { "lat", NULL, MAVLINK_TYPE_FLOAT, 0, 9, offsetof(mavlink_gps_raw_t, lat) }, \ |
| { "lon", NULL, MAVLINK_TYPE_FLOAT, 0, 13, offsetof(mavlink_gps_raw_t, lon) }, \ |
| { "alt", NULL, MAVLINK_TYPE_FLOAT, 0, 17, offsetof(mavlink_gps_raw_t, alt) }, \ |
| { "eph", NULL, MAVLINK_TYPE_FLOAT, 0, 21, offsetof(mavlink_gps_raw_t, eph) }, \ |
| { "epv", NULL, MAVLINK_TYPE_FLOAT, 0, 25, offsetof(mavlink_gps_raw_t, epv) }, \ |
| { "v", NULL, MAVLINK_TYPE_FLOAT, 0, 29, offsetof(mavlink_gps_raw_t, v) }, \ |
| { "hdg", NULL, MAVLINK_TYPE_FLOAT, 0, 33, offsetof(mavlink_gps_raw_t, hdg) }, \ |
| } \ |
| } |
| |
| |
| /** |
| * @brief Pack a gps_raw message |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param msg The MAVLink message to compress the data into |
| * |
| * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
| * @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. |
| * @param lat Latitude in degrees |
| * @param lon Longitude in degrees |
| * @param alt Altitude in meters |
| * @param eph GPS HDOP |
| * @param epv GPS VDOP |
| * @param v GPS ground speed |
| * @param hdg Compass heading in degrees, 0..360 degrees |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_gps_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, |
| uint64_t usec, uint8_t fix_type, float lat, float lon, float alt, float eph, float epv, float v, float hdg) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[37]; |
| _mav_put_uint64_t(buf, 0, usec); |
| _mav_put_uint8_t(buf, 8, fix_type); |
| _mav_put_float(buf, 9, lat); |
| _mav_put_float(buf, 13, lon); |
| _mav_put_float(buf, 17, alt); |
| _mav_put_float(buf, 21, eph); |
| _mav_put_float(buf, 25, epv); |
| _mav_put_float(buf, 29, v); |
| _mav_put_float(buf, 33, hdg); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 37); |
| #else |
| mavlink_gps_raw_t packet; |
| packet.usec = usec; |
| packet.fix_type = fix_type; |
| packet.lat = lat; |
| packet.lon = lon; |
| packet.alt = alt; |
| packet.eph = eph; |
| packet.epv = epv; |
| packet.v = v; |
| packet.hdg = hdg; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 37); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_GPS_RAW; |
| return mavlink_finalize_message(msg, system_id, component_id, 37); |
| } |
| |
| /** |
| * @brief Pack a gps_raw message on a channel |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param chan The MAVLink channel this message was sent over |
| * @param msg The MAVLink message to compress the data into |
| * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
| * @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. |
| * @param lat Latitude in degrees |
| * @param lon Longitude in degrees |
| * @param alt Altitude in meters |
| * @param eph GPS HDOP |
| * @param epv GPS VDOP |
| * @param v GPS ground speed |
| * @param hdg Compass heading in degrees, 0..360 degrees |
| * @return length of the message in bytes (excluding serial stream start sign) |
| */ |
| static inline uint16_t mavlink_msg_gps_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, |
| mavlink_message_t* msg, |
| uint64_t usec,uint8_t fix_type,float lat,float lon,float alt,float eph,float epv,float v,float hdg) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[37]; |
| _mav_put_uint64_t(buf, 0, usec); |
| _mav_put_uint8_t(buf, 8, fix_type); |
| _mav_put_float(buf, 9, lat); |
| _mav_put_float(buf, 13, lon); |
| _mav_put_float(buf, 17, alt); |
| _mav_put_float(buf, 21, eph); |
| _mav_put_float(buf, 25, epv); |
| _mav_put_float(buf, 29, v); |
| _mav_put_float(buf, 33, hdg); |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, 37); |
| #else |
| mavlink_gps_raw_t packet; |
| packet.usec = usec; |
| packet.fix_type = fix_type; |
| packet.lat = lat; |
| packet.lon = lon; |
| packet.alt = alt; |
| packet.eph = eph; |
| packet.epv = epv; |
| packet.v = v; |
| packet.hdg = hdg; |
| |
| memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, 37); |
| #endif |
| |
| msg->msgid = MAVLINK_MSG_ID_GPS_RAW; |
| return mavlink_finalize_message_chan(msg, system_id, component_id, chan, 37); |
| } |
| |
| /** |
| * @brief Encode a gps_raw struct into a message |
| * |
| * @param system_id ID of this system |
| * @param component_id ID of this component (e.g. 200 for IMU) |
| * @param msg The MAVLink message to compress the data into |
| * @param gps_raw C-struct to read the message contents from |
| */ |
| 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) |
| { |
| 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); |
| } |
| |
| /** |
| * @brief Send a gps_raw message |
| * @param chan MAVLink channel to send the message |
| * |
| * @param usec Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
| * @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. |
| * @param lat Latitude in degrees |
| * @param lon Longitude in degrees |
| * @param alt Altitude in meters |
| * @param eph GPS HDOP |
| * @param epv GPS VDOP |
| * @param v GPS ground speed |
| * @param hdg Compass heading in degrees, 0..360 degrees |
| */ |
| #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS |
| |
| 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) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS |
| char buf[37]; |
| _mav_put_uint64_t(buf, 0, usec); |
| _mav_put_uint8_t(buf, 8, fix_type); |
| _mav_put_float(buf, 9, lat); |
| _mav_put_float(buf, 13, lon); |
| _mav_put_float(buf, 17, alt); |
| _mav_put_float(buf, 21, eph); |
| _mav_put_float(buf, 25, epv); |
| _mav_put_float(buf, 29, v); |
| _mav_put_float(buf, 33, hdg); |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, buf, 37); |
| #else |
| mavlink_gps_raw_t packet; |
| packet.usec = usec; |
| packet.fix_type = fix_type; |
| packet.lat = lat; |
| packet.lon = lon; |
| packet.alt = alt; |
| packet.eph = eph; |
| packet.epv = epv; |
| packet.v = v; |
| packet.hdg = hdg; |
| |
| _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RAW, (const char *)&packet, 37); |
| #endif |
| } |
| |
| #endif |
| |
| // MESSAGE GPS_RAW UNPACKING |
| |
| |
| /** |
| * @brief Get field usec from gps_raw message |
| * |
| * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot) |
| */ |
| static inline uint64_t mavlink_msg_gps_raw_get_usec(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint64_t(msg, 0); |
| } |
| |
| /** |
| * @brief Get field fix_type from gps_raw message |
| * |
| * @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. |
| */ |
| static inline uint8_t mavlink_msg_gps_raw_get_fix_type(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_uint8_t(msg, 8); |
| } |
| |
| /** |
| * @brief Get field lat from gps_raw message |
| * |
| * @return Latitude in degrees |
| */ |
| static inline float mavlink_msg_gps_raw_get_lat(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 9); |
| } |
| |
| /** |
| * @brief Get field lon from gps_raw message |
| * |
| * @return Longitude in degrees |
| */ |
| static inline float mavlink_msg_gps_raw_get_lon(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 13); |
| } |
| |
| /** |
| * @brief Get field alt from gps_raw message |
| * |
| * @return Altitude in meters |
| */ |
| static inline float mavlink_msg_gps_raw_get_alt(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 17); |
| } |
| |
| /** |
| * @brief Get field eph from gps_raw message |
| * |
| * @return GPS HDOP |
| */ |
| static inline float mavlink_msg_gps_raw_get_eph(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 21); |
| } |
| |
| /** |
| * @brief Get field epv from gps_raw message |
| * |
| * @return GPS VDOP |
| */ |
| static inline float mavlink_msg_gps_raw_get_epv(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 25); |
| } |
| |
| /** |
| * @brief Get field v from gps_raw message |
| * |
| * @return GPS ground speed |
| */ |
| static inline float mavlink_msg_gps_raw_get_v(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 29); |
| } |
| |
| /** |
| * @brief Get field hdg from gps_raw message |
| * |
| * @return Compass heading in degrees, 0..360 degrees |
| */ |
| static inline float mavlink_msg_gps_raw_get_hdg(const mavlink_message_t* msg) |
| { |
| return _MAV_RETURN_float(msg, 33); |
| } |
| |
| /** |
| * @brief Decode a gps_raw message into a struct |
| * |
| * @param msg The message to decode |
| * @param gps_raw C-struct to decode the message contents into |
| */ |
| static inline void mavlink_msg_gps_raw_decode(const mavlink_message_t* msg, mavlink_gps_raw_t* gps_raw) |
| { |
| #if MAVLINK_NEED_BYTE_SWAP |
| gps_raw->usec = mavlink_msg_gps_raw_get_usec(msg); |
| gps_raw->fix_type = mavlink_msg_gps_raw_get_fix_type(msg); |
| gps_raw->lat = mavlink_msg_gps_raw_get_lat(msg); |
| gps_raw->lon = mavlink_msg_gps_raw_get_lon(msg); |
| gps_raw->alt = mavlink_msg_gps_raw_get_alt(msg); |
| gps_raw->eph = mavlink_msg_gps_raw_get_eph(msg); |
| gps_raw->epv = mavlink_msg_gps_raw_get_epv(msg); |
| gps_raw->v = mavlink_msg_gps_raw_get_v(msg); |
| gps_raw->hdg = mavlink_msg_gps_raw_get_hdg(msg); |
| #else |
| memcpy(gps_raw, _MAV_PAYLOAD(msg), 37); |
| #endif |
| } |