lib/main/MAVLink/common/mavlink_msg_terrain_data.h

   1 // MESSAGE TERRAIN_DATA PACKING
   2
   3 #define MAVLINK_MSG_ID_TERRAIN_DATA 134
   4
   5 typedef struct __mavlink_terrain_data_t
   6 {
   7  int32_t lat; ///< Latitude of SW corner of first grid (degrees *10^7)
   8  int32_t lon; ///< Longitude of SW corner of first grid (in degrees *10^7)
   9  uint16_t grid_spacing; ///< Grid spacing in meters
  10  int16_t data[16]; ///< Terrain data in meters AMSL
  11  uint8_t gridbit; ///< bit within the terrain request mask
  12 } mavlink_terrain_data_t;
  13
  14 #define MAVLINK_MSG_ID_TERRAIN_DATA_LEN 43
  15 #define MAVLINK_MSG_ID_134_LEN 43
  16
  17 #define MAVLINK_MSG_ID_TERRAIN_DATA_CRC 229
  18 #define MAVLINK_MSG_ID_134_CRC 229
  19
  20 #define MAVLINK_MSG_TERRAIN_DATA_FIELD_DATA_LEN 16
  21
  22 #define MAVLINK_MESSAGE_INFO_TERRAIN_DATA { \
  23         "TERRAIN_DATA", \
  24         5, \
  25         {  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_data_t, lat) }, \
  26          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_data_t, lon) }, \
  27          { "grid_spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_terrain_data_t, grid_spacing) }, \
  28          { "data", NULL, MAVLINK_TYPE_INT16_T, 16, 10, offsetof(mavlink_terrain_data_t, data) }, \
  29          { "gridbit", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_terrain_data_t, gridbit) }, \
  30          } \
  31 }
  32
  33
  34 /**
  35  * @brief Pack a terrain_data message
  36  * @param system_id ID of this system
  37  * @param component_id ID of this component (e.g. 200 for IMU)
  38  * @param msg The MAVLink message to compress the data into
  39  *
  40  * @param lat Latitude of SW corner of first grid (degrees *10^7)
  41  * @param lon Longitude of SW corner of first grid (in degrees *10^7)
  42  * @param grid_spacing Grid spacing in meters
  43  * @param gridbit bit within the terrain request mask
  44  * @param data Terrain data in meters AMSL
  45  * @return length of the message in bytes (excluding serial stream start sign)
  46  */
  47 static inline uint16_t mavlink_msg_terrain_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  48                                                        int32_t lat, int32_t lon, uint16_t grid_spacing, uint8_t gridbit, const int16_t *data)
  49 {
  50 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  51         char buf[MAVLINK_MSG_ID_TERRAIN_DATA_LEN];
  52         _mav_put_int32_t(buf, 0, lat);
  53         _mav_put_int32_t(buf, 4, lon);
  54         _mav_put_uint16_t(buf, 8, grid_spacing);
  55         _mav_put_uint8_t(buf, 42, gridbit);
  56         _mav_put_int16_t_array(buf, 10, data, 16);
  57         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
  58 #else
  59         mavlink_terrain_data_t packet;
  60         packet.lat = lat;
  61         packet.lon = lon;
  62         packet.grid_spacing = grid_spacing;
  63         packet.gridbit = gridbit;
  64         mav_array_memcpy(packet.data, data, sizeof(int16_t)*16);
  65         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
  66 #endif
  67
  68         msg->msgid = MAVLINK_MSG_ID_TERRAIN_DATA;
  69 #if MAVLINK_CRC_EXTRA
  70     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
  71 #else
  72     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
  73 #endif
  74 }
  75
  76 /**
  77  * @brief Pack a terrain_data message on a channel
  78  * @param system_id ID of this system
  79  * @param component_id ID of this component (e.g. 200 for IMU)
  80  * @param chan The MAVLink channel this message will be sent over
  81  * @param msg The MAVLink message to compress the data into
  82  * @param lat Latitude of SW corner of first grid (degrees *10^7)
  83  * @param lon Longitude of SW corner of first grid (in degrees *10^7)
  84  * @param grid_spacing Grid spacing in meters
  85  * @param gridbit bit within the terrain request mask
  86  * @param data Terrain data in meters AMSL
  87  * @return length of the message in bytes (excluding serial stream start sign)
  88  */
  89 static inline uint16_t mavlink_msg_terrain_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  90                                                            mavlink_message_t* msg,
  91                                                            int32_t lat,int32_t lon,uint16_t grid_spacing,uint8_t gridbit,const int16_t *data)
  92 {
  93 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  94         char buf[MAVLINK_MSG_ID_TERRAIN_DATA_LEN];
  95         _mav_put_int32_t(buf, 0, lat);
  96         _mav_put_int32_t(buf, 4, lon);
  97         _mav_put_uint16_t(buf, 8, grid_spacing);
  98         _mav_put_uint8_t(buf, 42, gridbit);
  99         _mav_put_int16_t_array(buf, 10, data, 16);
 100         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 101 #else
 102         mavlink_terrain_data_t packet;
 103         packet.lat = lat;
 104         packet.lon = lon;
 105         packet.grid_spacing = grid_spacing;
 106         packet.gridbit = gridbit;
 107         mav_array_memcpy(packet.data, data, sizeof(int16_t)*16);
 108         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 109 #endif
 110
 111         msg->msgid = MAVLINK_MSG_ID_TERRAIN_DATA;
 112 #if MAVLINK_CRC_EXTRA
 113     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 114 #else
 115     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 116 #endif
 117 }
 118
 119 /**
 120  * @brief Encode a terrain_data struct
 121  *
 122  * @param system_id ID of this system
 123  * @param component_id ID of this component (e.g. 200 for IMU)
 124  * @param msg The MAVLink message to compress the data into
 125  * @param terrain_data C-struct to read the message contents from
 126  */
 127 static inline uint16_t mavlink_msg_terrain_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_terrain_data_t* terrain_data)
 128 {
 129         return mavlink_msg_terrain_data_pack(system_id, component_id, msg, terrain_data->lat, terrain_data->lon, terrain_data->grid_spacing, terrain_data->gridbit, terrain_data->data);
 130 }
 131
 132 /**
 133  * @brief Encode a terrain_data struct on a channel
 134  *
 135  * @param system_id ID of this system
 136  * @param component_id ID of this component (e.g. 200 for IMU)
 137  * @param chan The MAVLink channel this message will be sent over
 138  * @param msg The MAVLink message to compress the data into
 139  * @param terrain_data C-struct to read the message contents from
 140  */
 141 static inline uint16_t mavlink_msg_terrain_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_terrain_data_t* terrain_data)
 142 {
 143         return mavlink_msg_terrain_data_pack_chan(system_id, component_id, chan, msg, terrain_data->lat, terrain_data->lon, terrain_data->grid_spacing, terrain_data->gridbit, terrain_data->data);
 144 }
 145
 146 /**
 147  * @brief Send a terrain_data message
 148  * @param chan MAVLink channel to send the message
 149  *
 150  * @param lat Latitude of SW corner of first grid (degrees *10^7)
 151  * @param lon Longitude of SW corner of first grid (in degrees *10^7)
 152  * @param grid_spacing Grid spacing in meters
 153  * @param gridbit bit within the terrain request mask
 154  * @param data Terrain data in meters AMSL
 155  */
 156 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 157
 158 static inline void mavlink_msg_terrain_data_send(mavlink_channel_t chan, int32_t lat, int32_t lon, uint16_t grid_spacing, uint8_t gridbit, const int16_t *data)
 159 {
 160 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 161         char buf[MAVLINK_MSG_ID_TERRAIN_DATA_LEN];
 162         _mav_put_int32_t(buf, 0, lat);
 163         _mav_put_int32_t(buf, 4, lon);
 164         _mav_put_uint16_t(buf, 8, grid_spacing);
 165         _mav_put_uint8_t(buf, 42, gridbit);
 166         _mav_put_int16_t_array(buf, 10, data, 16);
 167 #if MAVLINK_CRC_EXTRA
 168     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, buf, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 169 #else
 170     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, buf, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 171 #endif
 172 #else
 173         mavlink_terrain_data_t packet;
 174         packet.lat = lat;
 175         packet.lon = lon;
 176         packet.grid_spacing = grid_spacing;
 177         packet.gridbit = gridbit;
 178         mav_array_memcpy(packet.data, data, sizeof(int16_t)*16);
 179 #if MAVLINK_CRC_EXTRA
 180     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, (const char *)&packet, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 181 #else
 182     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, (const char *)&packet, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 183 #endif
 184 #endif
 185 }
 186
 187 #if MAVLINK_MSG_ID_TERRAIN_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 188 /*
 189   This varient of _send() can be used to save stack space by re-using
 190   memory from the receive buffer.  The caller provides a
 191   mavlink_message_t which is the size of a full mavlink message. This
 192   is usually the receive buffer for the channel, and allows a reply to an
 193   incoming message with minimum stack space usage.
 194  */
 195 static inline void mavlink_msg_terrain_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int32_t lat, int32_t lon, uint16_t grid_spacing, uint8_t gridbit, const int16_t *data)
 196 {
 197 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 198         char *buf = (char *)msgbuf;
 199         _mav_put_int32_t(buf, 0, lat);
 200         _mav_put_int32_t(buf, 4, lon);
 201         _mav_put_uint16_t(buf, 8, grid_spacing);
 202         _mav_put_uint8_t(buf, 42, gridbit);
 203         _mav_put_int16_t_array(buf, 10, data, 16);
 204 #if MAVLINK_CRC_EXTRA
 205     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, buf, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 206 #else
 207     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, buf, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 208 #endif
 209 #else
 210         mavlink_terrain_data_t *packet = (mavlink_terrain_data_t *)msgbuf;
 211         packet->lat = lat;
 212         packet->lon = lon;
 213         packet->grid_spacing = grid_spacing;
 214         packet->gridbit = gridbit;
 215         mav_array_memcpy(packet->data, data, sizeof(int16_t)*16);
 216 #if MAVLINK_CRC_EXTRA
 217     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, (const char *)packet, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 218 #else
 219     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, (const char *)packet, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 220 #endif
 221 #endif
 222 }
 223 #endif
 224
 225 #endif
 226
 227 // MESSAGE TERRAIN_DATA UNPACKING
 228
 229
 230 /**
 231  * @brief Get field lat from terrain_data message
 232  *
 233  * @return Latitude of SW corner of first grid (degrees *10^7)
 234  */
 235 static inline int32_t mavlink_msg_terrain_data_get_lat(const mavlink_message_t* msg)
 236 {
 237         return _MAV_RETURN_int32_t(msg,  0);
 238 }
 239
 240 /**
 241  * @brief Get field lon from terrain_data message
 242  *
 243  * @return Longitude of SW corner of first grid (in degrees *10^7)
 244  */
 245 static inline int32_t mavlink_msg_terrain_data_get_lon(const mavlink_message_t* msg)
 246 {
 247         return _MAV_RETURN_int32_t(msg,  4);
 248 }
 249
 250 /**
 251  * @brief Get field grid_spacing from terrain_data message
 252  *
 253  * @return Grid spacing in meters
 254  */
 255 static inline uint16_t mavlink_msg_terrain_data_get_grid_spacing(const mavlink_message_t* msg)
 256 {
 257         return _MAV_RETURN_uint16_t(msg,  8);
 258 }
 259
 260 /**
 261  * @brief Get field gridbit from terrain_data message
 262  *
 263  * @return bit within the terrain request mask
 264  */
 265 static inline uint8_t mavlink_msg_terrain_data_get_gridbit(const mavlink_message_t* msg)
 266 {
 267         return _MAV_RETURN_uint8_t(msg,  42);
 268 }
 269
 270 /**
 271  * @brief Get field data from terrain_data message
 272  *
 273  * @return Terrain data in meters AMSL
 274  */
 275 static inline uint16_t mavlink_msg_terrain_data_get_data(const mavlink_message_t* msg, int16_t *data)
 276 {
 277         return _MAV_RETURN_int16_t_array(msg, data, 16,  10);
 278 }
 279
 280 /**
 281  * @brief Decode a terrain_data message into a struct
 282  *
 283  * @param msg The message to decode
 284  * @param terrain_data C-struct to decode the message contents into
 285  */
 286 static inline void mavlink_msg_terrain_data_decode(const mavlink_message_t* msg, mavlink_terrain_data_t* terrain_data)
 287 {
 288 #if MAVLINK_NEED_BYTE_SWAP
 289         terrain_data->lat = mavlink_msg_terrain_data_get_lat(msg);
 290         terrain_data->lon = mavlink_msg_terrain_data_get_lon(msg);
 291         terrain_data->grid_spacing = mavlink_msg_terrain_data_get_grid_spacing(msg);
 292         mavlink_msg_terrain_data_get_data(msg, terrain_data->data);
 293         terrain_data->gridbit = mavlink_msg_terrain_data_get_gridbit(msg);
 294 #else
 295         memcpy(terrain_data, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 296 #endif
 297 }