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// 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
}