lib/main/MAVLink/common/mavlink_msg_global_position_int.h

   1 // MESSAGE GLOBAL_POSITION_INT PACKING
   2
   3 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
   4
   5 typedef struct __mavlink_global_position_int_t
   6 {
   7  uint32_t time_boot_ms; ///< Timestamp (milliseconds since system boot)
   8  int32_t lat; ///< Latitude, expressed as * 1E7
   9  int32_t lon; ///< Longitude, expressed as * 1E7
  10  int32_t alt; ///< Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
  11  int32_t relative_alt; ///< Altitude above ground in meters, expressed as * 1000 (millimeters)
  12  int16_t vx; ///< Ground X Speed (Latitude), expressed as m/s * 100
  13  int16_t vy; ///< Ground Y Speed (Longitude), expressed as m/s * 100
  14  int16_t vz; ///< Ground Z Speed (Altitude), expressed as m/s * 100
  15  uint16_t hdg; ///< Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
  16 } mavlink_global_position_int_t;
  17
  18 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
  19 #define MAVLINK_MSG_ID_33_LEN 28
  20
  21 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC 104
  22 #define MAVLINK_MSG_ID_33_CRC 104
  23
  24
  25
  26 #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
  27         "GLOBAL_POSITION_INT", \
  28         9, \
  29         {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
  30          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
  31          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
  32          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
  33          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
  34          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
  35          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
  36          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
  37          { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
  38          } \
  39 }
  40
  41
  42 /**
  43  * @brief Pack a global_position_int message
  44  * @param system_id ID of this system
  45  * @param component_id ID of this component (e.g. 200 for IMU)
  46  * @param msg The MAVLink message to compress the data into
  47  *
  48  * @param time_boot_ms Timestamp (milliseconds since system boot)
  49  * @param lat Latitude, expressed as * 1E7
  50  * @param lon Longitude, expressed as * 1E7
  51  * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
  52  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
  53  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
  54  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
  55  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
  56  * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  60                                                        uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63         char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
  64         _mav_put_uint32_t(buf, 0, time_boot_ms);
  65         _mav_put_int32_t(buf, 4, lat);
  66         _mav_put_int32_t(buf, 8, lon);
  67         _mav_put_int32_t(buf, 12, alt);
  68         _mav_put_int32_t(buf, 16, relative_alt);
  69         _mav_put_int16_t(buf, 20, vx);
  70         _mav_put_int16_t(buf, 22, vy);
  71         _mav_put_int16_t(buf, 24, vz);
  72         _mav_put_uint16_t(buf, 26, hdg);
  73
  74         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
  75 #else
  76         mavlink_global_position_int_t packet;
  77         packet.time_boot_ms = time_boot_ms;
  78         packet.lat = lat;
  79         packet.lon = lon;
  80         packet.alt = alt;
  81         packet.relative_alt = relative_alt;
  82         packet.vx = vx;
  83         packet.vy = vy;
  84         packet.vz = vz;
  85         packet.hdg = hdg;
  86
  87         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
  88 #endif
  89
  90         msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
  91 #if MAVLINK_CRC_EXTRA
  92     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
  93 #else
  94     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
  95 #endif
  96 }
  97
  98 /**
  99  * @brief Pack a global_position_int message on a channel
 100  * @param system_id ID of this system
 101  * @param component_id ID of this component (e.g. 200 for IMU)
 102  * @param chan The MAVLink channel this message will be sent over
 103  * @param msg The MAVLink message to compress the data into
 104  * @param time_boot_ms Timestamp (milliseconds since system boot)
 105  * @param lat Latitude, expressed as * 1E7
 106  * @param lon Longitude, expressed as * 1E7
 107  * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
 108  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 109  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 110  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 111  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 112  * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 113  * @return length of the message in bytes (excluding serial stream start sign)
 114  */
 115 static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 116                                                            mavlink_message_t* msg,
 117                                                            uint32_t time_boot_ms,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t hdg)
 118 {
 119 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 120         char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
 121         _mav_put_uint32_t(buf, 0, time_boot_ms);
 122         _mav_put_int32_t(buf, 4, lat);
 123         _mav_put_int32_t(buf, 8, lon);
 124         _mav_put_int32_t(buf, 12, alt);
 125         _mav_put_int32_t(buf, 16, relative_alt);
 126         _mav_put_int16_t(buf, 20, vx);
 127         _mav_put_int16_t(buf, 22, vy);
 128         _mav_put_int16_t(buf, 24, vz);
 129         _mav_put_uint16_t(buf, 26, hdg);
 130
 131         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 132 #else
 133         mavlink_global_position_int_t packet;
 134         packet.time_boot_ms = time_boot_ms;
 135         packet.lat = lat;
 136         packet.lon = lon;
 137         packet.alt = alt;
 138         packet.relative_alt = relative_alt;
 139         packet.vx = vx;
 140         packet.vy = vy;
 141         packet.vz = vz;
 142         packet.hdg = hdg;
 143
 144         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 145 #endif
 146
 147         msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
 148 #if MAVLINK_CRC_EXTRA
 149     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 150 #else
 151     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 152 #endif
 153 }
 154
 155 /**
 156  * @brief Encode a global_position_int struct
 157  *
 158  * @param system_id ID of this system
 159  * @param component_id ID of this component (e.g. 200 for IMU)
 160  * @param msg The MAVLink message to compress the data into
 161  * @param global_position_int C-struct to read the message contents from
 162  */
 163 static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
 164 {
 165         return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
 166 }
 167
 168 /**
 169  * @brief Encode a global_position_int struct on a channel
 170  *
 171  * @param system_id ID of this system
 172  * @param component_id ID of this component (e.g. 200 for IMU)
 173  * @param chan The MAVLink channel this message will be sent over
 174  * @param msg The MAVLink message to compress the data into
 175  * @param global_position_int C-struct to read the message contents from
 176  */
 177 static inline uint16_t mavlink_msg_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
 178 {
 179         return mavlink_msg_global_position_int_pack_chan(system_id, component_id, chan, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
 180 }
 181
 182 /**
 183  * @brief Send a global_position_int message
 184  * @param chan MAVLink channel to send the message
 185  *
 186  * @param time_boot_ms Timestamp (milliseconds since system boot)
 187  * @param lat Latitude, expressed as * 1E7
 188  * @param lon Longitude, expressed as * 1E7
 189  * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
 190  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 191  * @param vx Ground X Speed (Latitude), expressed as m/s * 100
 192  * @param vy Ground Y Speed (Longitude), expressed as m/s * 100
 193  * @param vz Ground Z Speed (Altitude), expressed as m/s * 100
 194  * @param hdg Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 195  */
 196 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 197
 198 static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
 199 {
 200 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 201         char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
 202         _mav_put_uint32_t(buf, 0, time_boot_ms);
 203         _mav_put_int32_t(buf, 4, lat);
 204         _mav_put_int32_t(buf, 8, lon);
 205         _mav_put_int32_t(buf, 12, alt);
 206         _mav_put_int32_t(buf, 16, relative_alt);
 207         _mav_put_int16_t(buf, 20, vx);
 208         _mav_put_int16_t(buf, 22, vy);
 209         _mav_put_int16_t(buf, 24, vz);
 210         _mav_put_uint16_t(buf, 26, hdg);
 211
 212 #if MAVLINK_CRC_EXTRA
 213     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 214 #else
 215     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 216 #endif
 217 #else
 218         mavlink_global_position_int_t packet;
 219         packet.time_boot_ms = time_boot_ms;
 220         packet.lat = lat;
 221         packet.lon = lon;
 222         packet.alt = alt;
 223         packet.relative_alt = relative_alt;
 224         packet.vx = vx;
 225         packet.vy = vy;
 226         packet.vz = vz;
 227         packet.hdg = hdg;
 228
 229 #if MAVLINK_CRC_EXTRA
 230     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 231 #else
 232     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 233 #endif
 234 #endif
 235 }
 236
 237 #if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 238 /*
 239   This varient of _send() can be used to save stack space by re-using
 240   memory from the receive buffer.  The caller provides a
 241   mavlink_message_t which is the size of a full mavlink message. This
 242   is usually the receive buffer for the channel, and allows a reply to an
 243   incoming message with minimum stack space usage.
 244  */
 245 static inline void mavlink_msg_global_position_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
 246 {
 247 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 248         char *buf = (char *)msgbuf;
 249         _mav_put_uint32_t(buf, 0, time_boot_ms);
 250         _mav_put_int32_t(buf, 4, lat);
 251         _mav_put_int32_t(buf, 8, lon);
 252         _mav_put_int32_t(buf, 12, alt);
 253         _mav_put_int32_t(buf, 16, relative_alt);
 254         _mav_put_int16_t(buf, 20, vx);
 255         _mav_put_int16_t(buf, 22, vy);
 256         _mav_put_int16_t(buf, 24, vz);
 257         _mav_put_uint16_t(buf, 26, hdg);
 258
 259 #if MAVLINK_CRC_EXTRA
 260     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 261 #else
 262     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 263 #endif
 264 #else
 265         mavlink_global_position_int_t *packet = (mavlink_global_position_int_t *)msgbuf;
 266         packet->time_boot_ms = time_boot_ms;
 267         packet->lat = lat;
 268         packet->lon = lon;
 269         packet->alt = alt;
 270         packet->relative_alt = relative_alt;
 271         packet->vx = vx;
 272         packet->vy = vy;
 273         packet->vz = vz;
 274         packet->hdg = hdg;
 275
 276 #if MAVLINK_CRC_EXTRA
 277     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 278 #else
 279     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 280 #endif
 281 #endif
 282 }
 283 #endif
 284
 285 #endif
 286
 287 // MESSAGE GLOBAL_POSITION_INT UNPACKING
 288
 289
 290 /**
 291  * @brief Get field time_boot_ms from global_position_int message
 292  *
 293  * @return Timestamp (milliseconds since system boot)
 294  */
 295 static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
 296 {
 297         return _MAV_RETURN_uint32_t(msg,  0);
 298 }
 299
 300 /**
 301  * @brief Get field lat from global_position_int message
 302  *
 303  * @return Latitude, expressed as * 1E7
 304  */
 305 static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
 306 {
 307         return _MAV_RETURN_int32_t(msg,  4);
 308 }
 309
 310 /**
 311  * @brief Get field lon from global_position_int message
 312  *
 313  * @return Longitude, expressed as * 1E7
 314  */
 315 static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
 316 {
 317         return _MAV_RETURN_int32_t(msg,  8);
 318 }
 319
 320 /**
 321  * @brief Get field alt from global_position_int message
 322  *
 323  * @return Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
 324  */
 325 static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
 326 {
 327         return _MAV_RETURN_int32_t(msg,  12);
 328 }
 329
 330 /**
 331  * @brief Get field relative_alt from global_position_int message
 332  *
 333  * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
 334  */
 335 static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg)
 336 {
 337         return _MAV_RETURN_int32_t(msg,  16);
 338 }
 339
 340 /**
 341  * @brief Get field vx from global_position_int message
 342  *
 343  * @return Ground X Speed (Latitude), expressed as m/s * 100
 344  */
 345 static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
 346 {
 347         return _MAV_RETURN_int16_t(msg,  20);
 348 }
 349
 350 /**
 351  * @brief Get field vy from global_position_int message
 352  *
 353  * @return Ground Y Speed (Longitude), expressed as m/s * 100
 354  */
 355 static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
 356 {
 357         return _MAV_RETURN_int16_t(msg,  22);
 358 }
 359
 360 /**
 361  * @brief Get field vz from global_position_int message
 362  *
 363  * @return Ground Z Speed (Altitude), expressed as m/s * 100
 364  */
 365 static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
 366 {
 367         return _MAV_RETURN_int16_t(msg,  24);
 368 }
 369
 370 /**
 371  * @brief Get field hdg from global_position_int message
 372  *
 373  * @return Compass heading in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 374  */
 375 static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg)
 376 {
 377         return _MAV_RETURN_uint16_t(msg,  26);
 378 }
 379
 380 /**
 381  * @brief Decode a global_position_int message into a struct
 382  *
 383  * @param msg The message to decode
 384  * @param global_position_int C-struct to decode the message contents into
 385  */
 386 static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
 387 {
 388 #if MAVLINK_NEED_BYTE_SWAP
 389         global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
 390         global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
 391         global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
 392         global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
 393         global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg);
 394         global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
 395         global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
 396         global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
 397         global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
 398 #else
 399         memcpy(global_position_int, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 400 #endif
 401 }