lib/main/MAVLink/common/mavlink_msg_gps_status.h

   1 // MESSAGE GPS_STATUS PACKING
   2
   3 #define MAVLINK_MSG_ID_GPS_STATUS 25
   4
   5 typedef struct __mavlink_gps_status_t
   6 {
   7  uint8_t satellites_visible; ///< Number of satellites visible
   8  uint8_t satellite_prn[20]; ///< Global satellite ID
   9  uint8_t satellite_used[20]; ///< 0: Satellite not used, 1: used for localization
  10  uint8_t satellite_elevation[20]; ///< Elevation (0: right on top of receiver, 90: on the horizon) of satellite
  11  uint8_t satellite_azimuth[20]; ///< Direction of satellite, 0: 0 deg, 255: 360 deg.
  12  uint8_t satellite_snr[20]; ///< Signal to noise ratio of satellite
  13 } mavlink_gps_status_t;
  14
  15 #define MAVLINK_MSG_ID_GPS_STATUS_LEN 101
  16 #define MAVLINK_MSG_ID_25_LEN 101
  17
  18 #define MAVLINK_MSG_ID_GPS_STATUS_CRC 23
  19 #define MAVLINK_MSG_ID_25_CRC 23
  20
  21 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_PRN_LEN 20
  22 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_USED_LEN 20
  23 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_ELEVATION_LEN 20
  24 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_AZIMUTH_LEN 20
  25 #define MAVLINK_MSG_GPS_STATUS_FIELD_SATELLITE_SNR_LEN 20
  26
  27 #define MAVLINK_MESSAGE_INFO_GPS_STATUS { \
  28         "GPS_STATUS", \
  29         6, \
  30         {  { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 0, offsetof(mavlink_gps_status_t, satellites_visible) }, \
  31          { "satellite_prn", NULL, MAVLINK_TYPE_UINT8_T, 20, 1, offsetof(mavlink_gps_status_t, satellite_prn) }, \
  32          { "satellite_used", NULL, MAVLINK_TYPE_UINT8_T, 20, 21, offsetof(mavlink_gps_status_t, satellite_used) }, \
  33          { "satellite_elevation", NULL, MAVLINK_TYPE_UINT8_T, 20, 41, offsetof(mavlink_gps_status_t, satellite_elevation) }, \
  34          { "satellite_azimuth", NULL, MAVLINK_TYPE_UINT8_T, 20, 61, offsetof(mavlink_gps_status_t, satellite_azimuth) }, \
  35          { "satellite_snr", NULL, MAVLINK_TYPE_UINT8_T, 20, 81, offsetof(mavlink_gps_status_t, satellite_snr) }, \
  36          } \
  37 }
  38
  39
  40 /**
  41  * @brief Pack a gps_status message
  42  * @param system_id ID of this system
  43  * @param component_id ID of this component (e.g. 200 for IMU)
  44  * @param msg The MAVLink message to compress the data into
  45  *
  46  * @param satellites_visible Number of satellites visible
  47  * @param satellite_prn Global satellite ID
  48  * @param satellite_used 0: Satellite not used, 1: used for localization
  49  * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
  50  * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
  51  * @param satellite_snr Signal to noise ratio of satellite
  52  * @return length of the message in bytes (excluding serial stream start sign)
  53  */
  54 static inline uint16_t mavlink_msg_gps_status_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  55                                                        uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
  56 {
  57 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  58         char buf[MAVLINK_MSG_ID_GPS_STATUS_LEN];
  59         _mav_put_uint8_t(buf, 0, satellites_visible);
  60         _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
  61         _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
  62         _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
  63         _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
  64         _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
  65         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
  66 #else
  67         mavlink_gps_status_t packet;
  68         packet.satellites_visible = satellites_visible;
  69         mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
  70         mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
  71         mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
  72         mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
  73         mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
  74         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
  75 #endif
  76
  77         msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
  78 #if MAVLINK_CRC_EXTRA
  79     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
  80 #else
  81     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_STATUS_LEN);
  82 #endif
  83 }
  84
  85 /**
  86  * @brief Pack a gps_status message on a channel
  87  * @param system_id ID of this system
  88  * @param component_id ID of this component (e.g. 200 for IMU)
  89  * @param chan The MAVLink channel this message will be sent over
  90  * @param msg The MAVLink message to compress the data into
  91  * @param satellites_visible Number of satellites visible
  92  * @param satellite_prn Global satellite ID
  93  * @param satellite_used 0: Satellite not used, 1: used for localization
  94  * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
  95  * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
  96  * @param satellite_snr Signal to noise ratio of satellite
  97  * @return length of the message in bytes (excluding serial stream start sign)
  98  */
  99 static inline uint16_t mavlink_msg_gps_status_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 100                                                            mavlink_message_t* msg,
 101                                                            uint8_t satellites_visible,const uint8_t *satellite_prn,const uint8_t *satellite_used,const uint8_t *satellite_elevation,const uint8_t *satellite_azimuth,const uint8_t *satellite_snr)
 102 {
 103 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 104         char buf[MAVLINK_MSG_ID_GPS_STATUS_LEN];
 105         _mav_put_uint8_t(buf, 0, satellites_visible);
 106         _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
 107         _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
 108         _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
 109         _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
 110         _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
 111         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
 112 #else
 113         mavlink_gps_status_t packet;
 114         packet.satellites_visible = satellites_visible;
 115         mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
 116         mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
 117         mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
 118         mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
 119         mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
 120         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
 121 #endif
 122
 123         msg->msgid = MAVLINK_MSG_ID_GPS_STATUS;
 124 #if MAVLINK_CRC_EXTRA
 125     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 126 #else
 127     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_STATUS_LEN);
 128 #endif
 129 }
 130
 131 /**
 132  * @brief Encode a gps_status struct
 133  *
 134  * @param system_id ID of this system
 135  * @param component_id ID of this component (e.g. 200 for IMU)
 136  * @param msg The MAVLink message to compress the data into
 137  * @param gps_status C-struct to read the message contents from
 138  */
 139 static inline uint16_t mavlink_msg_gps_status_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
 140 {
 141         return mavlink_msg_gps_status_pack(system_id, component_id, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
 142 }
 143
 144 /**
 145  * @brief Encode a gps_status struct on a channel
 146  *
 147  * @param system_id ID of this system
 148  * @param component_id ID of this component (e.g. 200 for IMU)
 149  * @param chan The MAVLink channel this message will be sent over
 150  * @param msg The MAVLink message to compress the data into
 151  * @param gps_status C-struct to read the message contents from
 152  */
 153 static inline uint16_t mavlink_msg_gps_status_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_status_t* gps_status)
 154 {
 155         return mavlink_msg_gps_status_pack_chan(system_id, component_id, chan, msg, gps_status->satellites_visible, gps_status->satellite_prn, gps_status->satellite_used, gps_status->satellite_elevation, gps_status->satellite_azimuth, gps_status->satellite_snr);
 156 }
 157
 158 /**
 159  * @brief Send a gps_status message
 160  * @param chan MAVLink channel to send the message
 161  *
 162  * @param satellites_visible Number of satellites visible
 163  * @param satellite_prn Global satellite ID
 164  * @param satellite_used 0: Satellite not used, 1: used for localization
 165  * @param satellite_elevation Elevation (0: right on top of receiver, 90: on the horizon) of satellite
 166  * @param satellite_azimuth Direction of satellite, 0: 0 deg, 255: 360 deg.
 167  * @param satellite_snr Signal to noise ratio of satellite
 168  */
 169 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 170
 171 static inline void mavlink_msg_gps_status_send(mavlink_channel_t chan, uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
 172 {
 173 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 174         char buf[MAVLINK_MSG_ID_GPS_STATUS_LEN];
 175         _mav_put_uint8_t(buf, 0, satellites_visible);
 176         _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
 177         _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
 178         _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
 179         _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
 180         _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
 181 #if MAVLINK_CRC_EXTRA
 182     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 183 #else
 184     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
 185 #endif
 186 #else
 187         mavlink_gps_status_t packet;
 188         packet.satellites_visible = satellites_visible;
 189         mav_array_memcpy(packet.satellite_prn, satellite_prn, sizeof(uint8_t)*20);
 190         mav_array_memcpy(packet.satellite_used, satellite_used, sizeof(uint8_t)*20);
 191         mav_array_memcpy(packet.satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
 192         mav_array_memcpy(packet.satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
 193         mav_array_memcpy(packet.satellite_snr, satellite_snr, sizeof(uint8_t)*20);
 194 #if MAVLINK_CRC_EXTRA
 195     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 196 #else
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)&packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
 198 #endif
 199 #endif
 200 }
 201
 202 #if MAVLINK_MSG_ID_GPS_STATUS_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 203 /*
 204   This varient of _send() can be used to save stack space by re-using
 205   memory from the receive buffer.  The caller provides a
 206   mavlink_message_t which is the size of a full mavlink message. This
 207   is usually the receive buffer for the channel, and allows a reply to an
 208   incoming message with minimum stack space usage.
 209  */
 210 static inline void mavlink_msg_gps_status_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint8_t satellites_visible, const uint8_t *satellite_prn, const uint8_t *satellite_used, const uint8_t *satellite_elevation, const uint8_t *satellite_azimuth, const uint8_t *satellite_snr)
 211 {
 212 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 213         char *buf = (char *)msgbuf;
 214         _mav_put_uint8_t(buf, 0, satellites_visible);
 215         _mav_put_uint8_t_array(buf, 1, satellite_prn, 20);
 216         _mav_put_uint8_t_array(buf, 21, satellite_used, 20);
 217         _mav_put_uint8_t_array(buf, 41, satellite_elevation, 20);
 218         _mav_put_uint8_t_array(buf, 61, satellite_azimuth, 20);
 219         _mav_put_uint8_t_array(buf, 81, satellite_snr, 20);
 220 #if MAVLINK_CRC_EXTRA
 221     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 222 #else
 223     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, buf, MAVLINK_MSG_ID_GPS_STATUS_LEN);
 224 #endif
 225 #else
 226         mavlink_gps_status_t *packet = (mavlink_gps_status_t *)msgbuf;
 227         packet->satellites_visible = satellites_visible;
 228         mav_array_memcpy(packet->satellite_prn, satellite_prn, sizeof(uint8_t)*20);
 229         mav_array_memcpy(packet->satellite_used, satellite_used, sizeof(uint8_t)*20);
 230         mav_array_memcpy(packet->satellite_elevation, satellite_elevation, sizeof(uint8_t)*20);
 231         mav_array_memcpy(packet->satellite_azimuth, satellite_azimuth, sizeof(uint8_t)*20);
 232         mav_array_memcpy(packet->satellite_snr, satellite_snr, sizeof(uint8_t)*20);
 233 #if MAVLINK_CRC_EXTRA
 234     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)packet, MAVLINK_MSG_ID_GPS_STATUS_LEN, MAVLINK_MSG_ID_GPS_STATUS_CRC);
 235 #else
 236     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_STATUS, (const char *)packet, MAVLINK_MSG_ID_GPS_STATUS_LEN);
 237 #endif
 238 #endif
 239 }
 240 #endif
 241
 242 #endif
 243
 244 // MESSAGE GPS_STATUS UNPACKING
 245
 246
 247 /**
 248  * @brief Get field satellites_visible from gps_status message
 249  *
 250  * @return Number of satellites visible
 251  */
 252 static inline uint8_t mavlink_msg_gps_status_get_satellites_visible(const mavlink_message_t* msg)
 253 {
 254         return _MAV_RETURN_uint8_t(msg,  0);
 255 }
 256
 257 /**
 258  * @brief Get field satellite_prn from gps_status message
 259  *
 260  * @return Global satellite ID
 261  */
 262 static inline uint16_t mavlink_msg_gps_status_get_satellite_prn(const mavlink_message_t* msg, uint8_t *satellite_prn)
 263 {
 264         return _MAV_RETURN_uint8_t_array(msg, satellite_prn, 20,  1);
 265 }
 266
 267 /**
 268  * @brief Get field satellite_used from gps_status message
 269  *
 270  * @return 0: Satellite not used, 1: used for localization
 271  */
 272 static inline uint16_t mavlink_msg_gps_status_get_satellite_used(const mavlink_message_t* msg, uint8_t *satellite_used)
 273 {
 274         return _MAV_RETURN_uint8_t_array(msg, satellite_used, 20,  21);
 275 }
 276
 277 /**
 278  * @brief Get field satellite_elevation from gps_status message
 279  *
 280  * @return Elevation (0: right on top of receiver, 90: on the horizon) of satellite
 281  */
 282 static inline uint16_t mavlink_msg_gps_status_get_satellite_elevation(const mavlink_message_t* msg, uint8_t *satellite_elevation)
 283 {
 284         return _MAV_RETURN_uint8_t_array(msg, satellite_elevation, 20,  41);
 285 }
 286
 287 /**
 288  * @brief Get field satellite_azimuth from gps_status message
 289  *
 290  * @return Direction of satellite, 0: 0 deg, 255: 360 deg.
 291  */
 292 static inline uint16_t mavlink_msg_gps_status_get_satellite_azimuth(const mavlink_message_t* msg, uint8_t *satellite_azimuth)
 293 {
 294         return _MAV_RETURN_uint8_t_array(msg, satellite_azimuth, 20,  61);
 295 }
 296
 297 /**
 298  * @brief Get field satellite_snr from gps_status message
 299  *
 300  * @return Signal to noise ratio of satellite
 301  */
 302 static inline uint16_t mavlink_msg_gps_status_get_satellite_snr(const mavlink_message_t* msg, uint8_t *satellite_snr)
 303 {
 304         return _MAV_RETURN_uint8_t_array(msg, satellite_snr, 20,  81);
 305 }
 306
 307 /**
 308  * @brief Decode a gps_status message into a struct
 309  *
 310  * @param msg The message to decode
 311  * @param gps_status C-struct to decode the message contents into
 312  */
 313 static inline void mavlink_msg_gps_status_decode(const mavlink_message_t* msg, mavlink_gps_status_t* gps_status)
 314 {
 315 #if MAVLINK_NEED_BYTE_SWAP
 316         gps_status->satellites_visible = mavlink_msg_gps_status_get_satellites_visible(msg);
 317         mavlink_msg_gps_status_get_satellite_prn(msg, gps_status->satellite_prn);
 318         mavlink_msg_gps_status_get_satellite_used(msg, gps_status->satellite_used);
 319         mavlink_msg_gps_status_get_satellite_elevation(msg, gps_status->satellite_elevation);
 320         mavlink_msg_gps_status_get_satellite_azimuth(msg, gps_status->satellite_azimuth);
 321         mavlink_msg_gps_status_get_satellite_snr(msg, gps_status->satellite_snr);
 322 #else
 323         memcpy(gps_status, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_GPS_STATUS_LEN);
 324 #endif
 325 }