lib/main/MAVLink/common/mavlink_msg_gps_rtk.h

   1 // MESSAGE GPS_RTK PACKING
   2
   3 #define MAVLINK_MSG_ID_GPS_RTK 127
   4
   5 typedef struct __mavlink_gps_rtk_t
   6 {
   7  uint32_t time_last_baseline_ms; ///< Time since boot of last baseline message received in ms.
   8  uint32_t tow; ///< GPS Time of Week of last baseline
   9  int32_t baseline_a_mm; ///< Current baseline in ECEF x or NED north component in mm.
  10  int32_t baseline_b_mm; ///< Current baseline in ECEF y or NED east component in mm.
  11  int32_t baseline_c_mm; ///< Current baseline in ECEF z or NED down component in mm.
  12  uint32_t accuracy; ///< Current estimate of baseline accuracy.
  13  int32_t iar_num_hypotheses; ///< Current number of integer ambiguity hypotheses.
  14  uint16_t wn; ///< GPS Week Number of last baseline
  15  uint8_t rtk_receiver_id; ///< Identification of connected RTK receiver.
  16  uint8_t rtk_health; ///< GPS-specific health report for RTK data.
  17  uint8_t rtk_rate; ///< Rate of baseline messages being received by GPS, in HZ
  18  uint8_t nsats; ///< Current number of sats used for RTK calculation.
  19  uint8_t baseline_coords_type; ///< Coordinate system of baseline. 0 == ECEF, 1 == NED
  20 } mavlink_gps_rtk_t;
  21
  22 #define MAVLINK_MSG_ID_GPS_RTK_LEN 35
  23 #define MAVLINK_MSG_ID_127_LEN 35
  24
  25 #define MAVLINK_MSG_ID_GPS_RTK_CRC 25
  26 #define MAVLINK_MSG_ID_127_CRC 25
  27
  28
  29
  30 #define MAVLINK_MESSAGE_INFO_GPS_RTK { \
  31         "GPS_RTK", \
  32         13, \
  33         {  { "time_last_baseline_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gps_rtk_t, time_last_baseline_ms) }, \
  34          { "tow", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gps_rtk_t, tow) }, \
  35          { "baseline_a_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_rtk_t, baseline_a_mm) }, \
  36          { "baseline_b_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_rtk_t, baseline_b_mm) }, \
  37          { "baseline_c_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_rtk_t, baseline_c_mm) }, \
  38          { "accuracy", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps_rtk_t, accuracy) }, \
  39          { "iar_num_hypotheses", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_gps_rtk_t, iar_num_hypotheses) }, \
  40          { "wn", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps_rtk_t, wn) }, \
  41          { "rtk_receiver_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_gps_rtk_t, rtk_receiver_id) }, \
  42          { "rtk_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_gps_rtk_t, rtk_health) }, \
  43          { "rtk_rate", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps_rtk_t, rtk_rate) }, \
  44          { "nsats", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps_rtk_t, nsats) }, \
  45          { "baseline_coords_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps_rtk_t, baseline_coords_type) }, \
  46          } \
  47 }
  48
  49
  50 /**
  51  * @brief Pack a gps_rtk message
  52  * @param system_id ID of this system
  53  * @param component_id ID of this component (e.g. 200 for IMU)
  54  * @param msg The MAVLink message to compress the data into
  55  *
  56  * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
  57  * @param rtk_receiver_id Identification of connected RTK receiver.
  58  * @param wn GPS Week Number of last baseline
  59  * @param tow GPS Time of Week of last baseline
  60  * @param rtk_health GPS-specific health report for RTK data.
  61  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
  62  * @param nsats Current number of sats used for RTK calculation.
  63  * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
  64  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
  65  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
  66  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
  67  * @param accuracy Current estimate of baseline accuracy.
  68  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
  69  * @return length of the message in bytes (excluding serial stream start sign)
  70  */
  71 static inline uint16_t mavlink_msg_gps_rtk_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  72                                                        uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses)
  73 {
  74 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  75         char buf[MAVLINK_MSG_ID_GPS_RTK_LEN];
  76         _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
  77         _mav_put_uint32_t(buf, 4, tow);
  78         _mav_put_int32_t(buf, 8, baseline_a_mm);
  79         _mav_put_int32_t(buf, 12, baseline_b_mm);
  80         _mav_put_int32_t(buf, 16, baseline_c_mm);
  81         _mav_put_uint32_t(buf, 20, accuracy);
  82         _mav_put_int32_t(buf, 24, iar_num_hypotheses);
  83         _mav_put_uint16_t(buf, 28, wn);
  84         _mav_put_uint8_t(buf, 30, rtk_receiver_id);
  85         _mav_put_uint8_t(buf, 31, rtk_health);
  86         _mav_put_uint8_t(buf, 32, rtk_rate);
  87         _mav_put_uint8_t(buf, 33, nsats);
  88         _mav_put_uint8_t(buf, 34, baseline_coords_type);
  89
  90         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RTK_LEN);
  91 #else
  92         mavlink_gps_rtk_t packet;
  93         packet.time_last_baseline_ms = time_last_baseline_ms;
  94         packet.tow = tow;
  95         packet.baseline_a_mm = baseline_a_mm;
  96         packet.baseline_b_mm = baseline_b_mm;
  97         packet.baseline_c_mm = baseline_c_mm;
  98         packet.accuracy = accuracy;
  99         packet.iar_num_hypotheses = iar_num_hypotheses;
 100         packet.wn = wn;
 101         packet.rtk_receiver_id = rtk_receiver_id;
 102         packet.rtk_health = rtk_health;
 103         packet.rtk_rate = rtk_rate;
 104         packet.nsats = nsats;
 105         packet.baseline_coords_type = baseline_coords_type;
 106
 107         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RTK_LEN);
 108 #endif
 109
 110         msg->msgid = MAVLINK_MSG_ID_GPS_RTK;
 111 #if MAVLINK_CRC_EXTRA
 112     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 113 #else
 114     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RTK_LEN);
 115 #endif
 116 }
 117
 118 /**
 119  * @brief Pack a gps_rtk message on a channel
 120  * @param system_id ID of this system
 121  * @param component_id ID of this component (e.g. 200 for IMU)
 122  * @param chan The MAVLink channel this message will be sent over
 123  * @param msg The MAVLink message to compress the data into
 124  * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
 125  * @param rtk_receiver_id Identification of connected RTK receiver.
 126  * @param wn GPS Week Number of last baseline
 127  * @param tow GPS Time of Week of last baseline
 128  * @param rtk_health GPS-specific health report for RTK data.
 129  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
 130  * @param nsats Current number of sats used for RTK calculation.
 131  * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
 132  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
 133  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
 134  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
 135  * @param accuracy Current estimate of baseline accuracy.
 136  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
 137  * @return length of the message in bytes (excluding serial stream start sign)
 138  */
 139 static inline uint16_t mavlink_msg_gps_rtk_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 140                                                            mavlink_message_t* msg,
 141                                                            uint32_t time_last_baseline_ms,uint8_t rtk_receiver_id,uint16_t wn,uint32_t tow,uint8_t rtk_health,uint8_t rtk_rate,uint8_t nsats,uint8_t baseline_coords_type,int32_t baseline_a_mm,int32_t baseline_b_mm,int32_t baseline_c_mm,uint32_t accuracy,int32_t iar_num_hypotheses)
 142 {
 143 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 144         char buf[MAVLINK_MSG_ID_GPS_RTK_LEN];
 145         _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
 146         _mav_put_uint32_t(buf, 4, tow);
 147         _mav_put_int32_t(buf, 8, baseline_a_mm);
 148         _mav_put_int32_t(buf, 12, baseline_b_mm);
 149         _mav_put_int32_t(buf, 16, baseline_c_mm);
 150         _mav_put_uint32_t(buf, 20, accuracy);
 151         _mav_put_int32_t(buf, 24, iar_num_hypotheses);
 152         _mav_put_uint16_t(buf, 28, wn);
 153         _mav_put_uint8_t(buf, 30, rtk_receiver_id);
 154         _mav_put_uint8_t(buf, 31, rtk_health);
 155         _mav_put_uint8_t(buf, 32, rtk_rate);
 156         _mav_put_uint8_t(buf, 33, nsats);
 157         _mav_put_uint8_t(buf, 34, baseline_coords_type);
 158
 159         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RTK_LEN);
 160 #else
 161         mavlink_gps_rtk_t packet;
 162         packet.time_last_baseline_ms = time_last_baseline_ms;
 163         packet.tow = tow;
 164         packet.baseline_a_mm = baseline_a_mm;
 165         packet.baseline_b_mm = baseline_b_mm;
 166         packet.baseline_c_mm = baseline_c_mm;
 167         packet.accuracy = accuracy;
 168         packet.iar_num_hypotheses = iar_num_hypotheses;
 169         packet.wn = wn;
 170         packet.rtk_receiver_id = rtk_receiver_id;
 171         packet.rtk_health = rtk_health;
 172         packet.rtk_rate = rtk_rate;
 173         packet.nsats = nsats;
 174         packet.baseline_coords_type = baseline_coords_type;
 175
 176         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RTK_LEN);
 177 #endif
 178
 179         msg->msgid = MAVLINK_MSG_ID_GPS_RTK;
 180 #if MAVLINK_CRC_EXTRA
 181     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 182 #else
 183     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RTK_LEN);
 184 #endif
 185 }
 186
 187 /**
 188  * @brief Encode a gps_rtk struct
 189  *
 190  * @param system_id ID of this system
 191  * @param component_id ID of this component (e.g. 200 for IMU)
 192  * @param msg The MAVLink message to compress the data into
 193  * @param gps_rtk C-struct to read the message contents from
 194  */
 195 static inline uint16_t mavlink_msg_gps_rtk_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_rtk_t* gps_rtk)
 196 {
 197         return mavlink_msg_gps_rtk_pack(system_id, component_id, msg, gps_rtk->time_last_baseline_ms, gps_rtk->rtk_receiver_id, gps_rtk->wn, gps_rtk->tow, gps_rtk->rtk_health, gps_rtk->rtk_rate, gps_rtk->nsats, gps_rtk->baseline_coords_type, gps_rtk->baseline_a_mm, gps_rtk->baseline_b_mm, gps_rtk->baseline_c_mm, gps_rtk->accuracy, gps_rtk->iar_num_hypotheses);
 198 }
 199
 200 /**
 201  * @brief Encode a gps_rtk struct on a channel
 202  *
 203  * @param system_id ID of this system
 204  * @param component_id ID of this component (e.g. 200 for IMU)
 205  * @param chan The MAVLink channel this message will be sent over
 206  * @param msg The MAVLink message to compress the data into
 207  * @param gps_rtk C-struct to read the message contents from
 208  */
 209 static inline uint16_t mavlink_msg_gps_rtk_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_rtk_t* gps_rtk)
 210 {
 211         return mavlink_msg_gps_rtk_pack_chan(system_id, component_id, chan, msg, gps_rtk->time_last_baseline_ms, gps_rtk->rtk_receiver_id, gps_rtk->wn, gps_rtk->tow, gps_rtk->rtk_health, gps_rtk->rtk_rate, gps_rtk->nsats, gps_rtk->baseline_coords_type, gps_rtk->baseline_a_mm, gps_rtk->baseline_b_mm, gps_rtk->baseline_c_mm, gps_rtk->accuracy, gps_rtk->iar_num_hypotheses);
 212 }
 213
 214 /**
 215  * @brief Send a gps_rtk message
 216  * @param chan MAVLink channel to send the message
 217  *
 218  * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
 219  * @param rtk_receiver_id Identification of connected RTK receiver.
 220  * @param wn GPS Week Number of last baseline
 221  * @param tow GPS Time of Week of last baseline
 222  * @param rtk_health GPS-specific health report for RTK data.
 223  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
 224  * @param nsats Current number of sats used for RTK calculation.
 225  * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
 226  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
 227  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
 228  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
 229  * @param accuracy Current estimate of baseline accuracy.
 230  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
 231  */
 232 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 233
 234 static inline void mavlink_msg_gps_rtk_send(mavlink_channel_t chan, uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses)
 235 {
 236 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 237         char buf[MAVLINK_MSG_ID_GPS_RTK_LEN];
 238         _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
 239         _mav_put_uint32_t(buf, 4, tow);
 240         _mav_put_int32_t(buf, 8, baseline_a_mm);
 241         _mav_put_int32_t(buf, 12, baseline_b_mm);
 242         _mav_put_int32_t(buf, 16, baseline_c_mm);
 243         _mav_put_uint32_t(buf, 20, accuracy);
 244         _mav_put_int32_t(buf, 24, iar_num_hypotheses);
 245         _mav_put_uint16_t(buf, 28, wn);
 246         _mav_put_uint8_t(buf, 30, rtk_receiver_id);
 247         _mav_put_uint8_t(buf, 31, rtk_health);
 248         _mav_put_uint8_t(buf, 32, rtk_rate);
 249         _mav_put_uint8_t(buf, 33, nsats);
 250         _mav_put_uint8_t(buf, 34, baseline_coords_type);
 251
 252 #if MAVLINK_CRC_EXTRA
 253     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, buf, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 254 #else
 255     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, buf, MAVLINK_MSG_ID_GPS_RTK_LEN);
 256 #endif
 257 #else
 258         mavlink_gps_rtk_t packet;
 259         packet.time_last_baseline_ms = time_last_baseline_ms;
 260         packet.tow = tow;
 261         packet.baseline_a_mm = baseline_a_mm;
 262         packet.baseline_b_mm = baseline_b_mm;
 263         packet.baseline_c_mm = baseline_c_mm;
 264         packet.accuracy = accuracy;
 265         packet.iar_num_hypotheses = iar_num_hypotheses;
 266         packet.wn = wn;
 267         packet.rtk_receiver_id = rtk_receiver_id;
 268         packet.rtk_health = rtk_health;
 269         packet.rtk_rate = rtk_rate;
 270         packet.nsats = nsats;
 271         packet.baseline_coords_type = baseline_coords_type;
 272
 273 #if MAVLINK_CRC_EXTRA
 274     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, (const char *)&packet, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 275 #else
 276     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, (const char *)&packet, MAVLINK_MSG_ID_GPS_RTK_LEN);
 277 #endif
 278 #endif
 279 }
 280
 281 #if MAVLINK_MSG_ID_GPS_RTK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 282 /*
 283   This varient of _send() can be used to save stack space by re-using
 284   memory from the receive buffer.  The caller provides a
 285   mavlink_message_t which is the size of a full mavlink message. This
 286   is usually the receive buffer for the channel, and allows a reply to an
 287   incoming message with minimum stack space usage.
 288  */
 289 static inline void mavlink_msg_gps_rtk_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses)
 290 {
 291 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 292         char *buf = (char *)msgbuf;
 293         _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
 294         _mav_put_uint32_t(buf, 4, tow);
 295         _mav_put_int32_t(buf, 8, baseline_a_mm);
 296         _mav_put_int32_t(buf, 12, baseline_b_mm);
 297         _mav_put_int32_t(buf, 16, baseline_c_mm);
 298         _mav_put_uint32_t(buf, 20, accuracy);
 299         _mav_put_int32_t(buf, 24, iar_num_hypotheses);
 300         _mav_put_uint16_t(buf, 28, wn);
 301         _mav_put_uint8_t(buf, 30, rtk_receiver_id);
 302         _mav_put_uint8_t(buf, 31, rtk_health);
 303         _mav_put_uint8_t(buf, 32, rtk_rate);
 304         _mav_put_uint8_t(buf, 33, nsats);
 305         _mav_put_uint8_t(buf, 34, baseline_coords_type);
 306
 307 #if MAVLINK_CRC_EXTRA
 308     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, buf, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 309 #else
 310     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, buf, MAVLINK_MSG_ID_GPS_RTK_LEN);
 311 #endif
 312 #else
 313         mavlink_gps_rtk_t *packet = (mavlink_gps_rtk_t *)msgbuf;
 314         packet->time_last_baseline_ms = time_last_baseline_ms;
 315         packet->tow = tow;
 316         packet->baseline_a_mm = baseline_a_mm;
 317         packet->baseline_b_mm = baseline_b_mm;
 318         packet->baseline_c_mm = baseline_c_mm;
 319         packet->accuracy = accuracy;
 320         packet->iar_num_hypotheses = iar_num_hypotheses;
 321         packet->wn = wn;
 322         packet->rtk_receiver_id = rtk_receiver_id;
 323         packet->rtk_health = rtk_health;
 324         packet->rtk_rate = rtk_rate;
 325         packet->nsats = nsats;
 326         packet->baseline_coords_type = baseline_coords_type;
 327
 328 #if MAVLINK_CRC_EXTRA
 329     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, (const char *)packet, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 330 #else
 331     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, (const char *)packet, MAVLINK_MSG_ID_GPS_RTK_LEN);
 332 #endif
 333 #endif
 334 }
 335 #endif
 336
 337 #endif
 338
 339 // MESSAGE GPS_RTK UNPACKING
 340
 341
 342 /**
 343  * @brief Get field time_last_baseline_ms from gps_rtk message
 344  *
 345  * @return Time since boot of last baseline message received in ms.
 346  */
 347 static inline uint32_t mavlink_msg_gps_rtk_get_time_last_baseline_ms(const mavlink_message_t* msg)
 348 {
 349         return _MAV_RETURN_uint32_t(msg,  0);
 350 }
 351
 352 /**
 353  * @brief Get field rtk_receiver_id from gps_rtk message
 354  *
 355  * @return Identification of connected RTK receiver.
 356  */
 357 static inline uint8_t mavlink_msg_gps_rtk_get_rtk_receiver_id(const mavlink_message_t* msg)
 358 {
 359         return _MAV_RETURN_uint8_t(msg,  30);
 360 }
 361
 362 /**
 363  * @brief Get field wn from gps_rtk message
 364  *
 365  * @return GPS Week Number of last baseline
 366  */
 367 static inline uint16_t mavlink_msg_gps_rtk_get_wn(const mavlink_message_t* msg)
 368 {
 369         return _MAV_RETURN_uint16_t(msg,  28);
 370 }
 371
 372 /**
 373  * @brief Get field tow from gps_rtk message
 374  *
 375  * @return GPS Time of Week of last baseline
 376  */
 377 static inline uint32_t mavlink_msg_gps_rtk_get_tow(const mavlink_message_t* msg)
 378 {
 379         return _MAV_RETURN_uint32_t(msg,  4);
 380 }
 381
 382 /**
 383  * @brief Get field rtk_health from gps_rtk message
 384  *
 385  * @return GPS-specific health report for RTK data.
 386  */
 387 static inline uint8_t mavlink_msg_gps_rtk_get_rtk_health(const mavlink_message_t* msg)
 388 {
 389         return _MAV_RETURN_uint8_t(msg,  31);
 390 }
 391
 392 /**
 393  * @brief Get field rtk_rate from gps_rtk message
 394  *
 395  * @return Rate of baseline messages being received by GPS, in HZ
 396  */
 397 static inline uint8_t mavlink_msg_gps_rtk_get_rtk_rate(const mavlink_message_t* msg)
 398 {
 399         return _MAV_RETURN_uint8_t(msg,  32);
 400 }
 401
 402 /**
 403  * @brief Get field nsats from gps_rtk message
 404  *
 405  * @return Current number of sats used for RTK calculation.
 406  */
 407 static inline uint8_t mavlink_msg_gps_rtk_get_nsats(const mavlink_message_t* msg)
 408 {
 409         return _MAV_RETURN_uint8_t(msg,  33);
 410 }
 411
 412 /**
 413  * @brief Get field baseline_coords_type from gps_rtk message
 414  *
 415  * @return Coordinate system of baseline. 0 == ECEF, 1 == NED
 416  */
 417 static inline uint8_t mavlink_msg_gps_rtk_get_baseline_coords_type(const mavlink_message_t* msg)
 418 {
 419         return _MAV_RETURN_uint8_t(msg,  34);
 420 }
 421
 422 /**
 423  * @brief Get field baseline_a_mm from gps_rtk message
 424  *
 425  * @return Current baseline in ECEF x or NED north component in mm.
 426  */
 427 static inline int32_t mavlink_msg_gps_rtk_get_baseline_a_mm(const mavlink_message_t* msg)
 428 {
 429         return _MAV_RETURN_int32_t(msg,  8);
 430 }
 431
 432 /**
 433  * @brief Get field baseline_b_mm from gps_rtk message
 434  *
 435  * @return Current baseline in ECEF y or NED east component in mm.
 436  */
 437 static inline int32_t mavlink_msg_gps_rtk_get_baseline_b_mm(const mavlink_message_t* msg)
 438 {
 439         return _MAV_RETURN_int32_t(msg,  12);
 440 }
 441
 442 /**
 443  * @brief Get field baseline_c_mm from gps_rtk message
 444  *
 445  * @return Current baseline in ECEF z or NED down component in mm.
 446  */
 447 static inline int32_t mavlink_msg_gps_rtk_get_baseline_c_mm(const mavlink_message_t* msg)
 448 {
 449         return _MAV_RETURN_int32_t(msg,  16);
 450 }
 451
 452 /**
 453  * @brief Get field accuracy from gps_rtk message
 454  *
 455  * @return Current estimate of baseline accuracy.
 456  */
 457 static inline uint32_t mavlink_msg_gps_rtk_get_accuracy(const mavlink_message_t* msg)
 458 {
 459         return _MAV_RETURN_uint32_t(msg,  20);
 460 }
 461
 462 /**
 463  * @brief Get field iar_num_hypotheses from gps_rtk message
 464  *
 465  * @return Current number of integer ambiguity hypotheses.
 466  */
 467 static inline int32_t mavlink_msg_gps_rtk_get_iar_num_hypotheses(const mavlink_message_t* msg)
 468 {
 469         return _MAV_RETURN_int32_t(msg,  24);
 470 }
 471
 472 /**
 473  * @brief Decode a gps_rtk message into a struct
 474  *
 475  * @param msg The message to decode
 476  * @param gps_rtk C-struct to decode the message contents into
 477  */
 478 static inline void mavlink_msg_gps_rtk_decode(const mavlink_message_t* msg, mavlink_gps_rtk_t* gps_rtk)
 479 {
 480 #if MAVLINK_NEED_BYTE_SWAP
 481         gps_rtk->time_last_baseline_ms = mavlink_msg_gps_rtk_get_time_last_baseline_ms(msg);
 482         gps_rtk->tow = mavlink_msg_gps_rtk_get_tow(msg);
 483         gps_rtk->baseline_a_mm = mavlink_msg_gps_rtk_get_baseline_a_mm(msg);
 484         gps_rtk->baseline_b_mm = mavlink_msg_gps_rtk_get_baseline_b_mm(msg);
 485         gps_rtk->baseline_c_mm = mavlink_msg_gps_rtk_get_baseline_c_mm(msg);
 486         gps_rtk->accuracy = mavlink_msg_gps_rtk_get_accuracy(msg);
 487         gps_rtk->iar_num_hypotheses = mavlink_msg_gps_rtk_get_iar_num_hypotheses(msg);
 488         gps_rtk->wn = mavlink_msg_gps_rtk_get_wn(msg);
 489         gps_rtk->rtk_receiver_id = mavlink_msg_gps_rtk_get_rtk_receiver_id(msg);
 490         gps_rtk->rtk_health = mavlink_msg_gps_rtk_get_rtk_health(msg);
 491         gps_rtk->rtk_rate = mavlink_msg_gps_rtk_get_rtk_rate(msg);
 492         gps_rtk->nsats = mavlink_msg_gps_rtk_get_nsats(msg);
 493         gps_rtk->baseline_coords_type = mavlink_msg_gps_rtk_get_baseline_coords_type(msg);
 494 #else
 495         memcpy(gps_rtk, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_RTK_LEN);
 496 #endif
 497 }