lib/main/MAVLink/common/mavlink_msg_terrain_report.h

   1 // MESSAGE TERRAIN_REPORT PACKING
   2
   3 #define MAVLINK_MSG_ID_TERRAIN_REPORT 136
   4
   5 typedef struct __mavlink_terrain_report_t
   6 {
   7  int32_t lat; ///< Latitude (degrees *10^7)
   8  int32_t lon; ///< Longitude (degrees *10^7)
   9  float terrain_height; ///< Terrain height in meters AMSL
  10  float current_height; ///< Current vehicle height above lat/lon terrain height (meters)
  11  uint16_t spacing; ///< grid spacing (zero if terrain at this location unavailable)
  12  uint16_t pending; ///< Number of 4x4 terrain blocks waiting to be received or read from disk
  13  uint16_t loaded; ///< Number of 4x4 terrain blocks in memory
  14 } mavlink_terrain_report_t;
  15
  16 #define MAVLINK_MSG_ID_TERRAIN_REPORT_LEN 22
  17 #define MAVLINK_MSG_ID_136_LEN 22
  18
  19 #define MAVLINK_MSG_ID_TERRAIN_REPORT_CRC 1
  20 #define MAVLINK_MSG_ID_136_CRC 1
  21
  22
  23
  24 #define MAVLINK_MESSAGE_INFO_TERRAIN_REPORT { \
  25         "TERRAIN_REPORT", \
  26         7, \
  27         {  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_report_t, lat) }, \
  28          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_report_t, lon) }, \
  29          { "terrain_height", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_terrain_report_t, terrain_height) }, \
  30          { "current_height", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_terrain_report_t, current_height) }, \
  31          { "spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_terrain_report_t, spacing) }, \
  32          { "pending", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_terrain_report_t, pending) }, \
  33          { "loaded", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_terrain_report_t, loaded) }, \
  34          } \
  35 }
  36
  37
  38 /**
  39  * @brief Pack a terrain_report message
  40  * @param system_id ID of this system
  41  * @param component_id ID of this component (e.g. 200 for IMU)
  42  * @param msg The MAVLink message to compress the data into
  43  *
  44  * @param lat Latitude (degrees *10^7)
  45  * @param lon Longitude (degrees *10^7)
  46  * @param spacing grid spacing (zero if terrain at this location unavailable)
  47  * @param terrain_height Terrain height in meters AMSL
  48  * @param current_height Current vehicle height above lat/lon terrain height (meters)
  49  * @param pending Number of 4x4 terrain blocks waiting to be received or read from disk
  50  * @param loaded Number of 4x4 terrain blocks in memory
  51  * @return length of the message in bytes (excluding serial stream start sign)
  52  */
  53 static inline uint16_t mavlink_msg_terrain_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  54                                                        int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
  55 {
  56 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  57         char buf[MAVLINK_MSG_ID_TERRAIN_REPORT_LEN];
  58         _mav_put_int32_t(buf, 0, lat);
  59         _mav_put_int32_t(buf, 4, lon);
  60         _mav_put_float(buf, 8, terrain_height);
  61         _mav_put_float(buf, 12, current_height);
  62         _mav_put_uint16_t(buf, 16, spacing);
  63         _mav_put_uint16_t(buf, 18, pending);
  64         _mav_put_uint16_t(buf, 20, loaded);
  65
  66         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
  67 #else
  68         mavlink_terrain_report_t packet;
  69         packet.lat = lat;
  70         packet.lon = lon;
  71         packet.terrain_height = terrain_height;
  72         packet.current_height = current_height;
  73         packet.spacing = spacing;
  74         packet.pending = pending;
  75         packet.loaded = loaded;
  76
  77         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
  78 #endif
  79
  80         msg->msgid = MAVLINK_MSG_ID_TERRAIN_REPORT;
  81 #if MAVLINK_CRC_EXTRA
  82     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
  83 #else
  84     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
  85 #endif
  86 }
  87
  88 /**
  89  * @brief Pack a terrain_report message on a channel
  90  * @param system_id ID of this system
  91  * @param component_id ID of this component (e.g. 200 for IMU)
  92  * @param chan The MAVLink channel this message will be sent over
  93  * @param msg The MAVLink message to compress the data into
  94  * @param lat Latitude (degrees *10^7)
  95  * @param lon Longitude (degrees *10^7)
  96  * @param spacing grid spacing (zero if terrain at this location unavailable)
  97  * @param terrain_height Terrain height in meters AMSL
  98  * @param current_height Current vehicle height above lat/lon terrain height (meters)
  99  * @param pending Number of 4x4 terrain blocks waiting to be received or read from disk
 100  * @param loaded Number of 4x4 terrain blocks in memory
 101  * @return length of the message in bytes (excluding serial stream start sign)
 102  */
 103 static inline uint16_t mavlink_msg_terrain_report_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 104                                                            mavlink_message_t* msg,
 105                                                            int32_t lat,int32_t lon,uint16_t spacing,float terrain_height,float current_height,uint16_t pending,uint16_t loaded)
 106 {
 107 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 108         char buf[MAVLINK_MSG_ID_TERRAIN_REPORT_LEN];
 109         _mav_put_int32_t(buf, 0, lat);
 110         _mav_put_int32_t(buf, 4, lon);
 111         _mav_put_float(buf, 8, terrain_height);
 112         _mav_put_float(buf, 12, current_height);
 113         _mav_put_uint16_t(buf, 16, spacing);
 114         _mav_put_uint16_t(buf, 18, pending);
 115         _mav_put_uint16_t(buf, 20, loaded);
 116
 117         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 118 #else
 119         mavlink_terrain_report_t packet;
 120         packet.lat = lat;
 121         packet.lon = lon;
 122         packet.terrain_height = terrain_height;
 123         packet.current_height = current_height;
 124         packet.spacing = spacing;
 125         packet.pending = pending;
 126         packet.loaded = loaded;
 127
 128         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 129 #endif
 130
 131         msg->msgid = MAVLINK_MSG_ID_TERRAIN_REPORT;
 132 #if MAVLINK_CRC_EXTRA
 133     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 134 #else
 135     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 136 #endif
 137 }
 138
 139 /**
 140  * @brief Encode a terrain_report struct
 141  *
 142  * @param system_id ID of this system
 143  * @param component_id ID of this component (e.g. 200 for IMU)
 144  * @param msg The MAVLink message to compress the data into
 145  * @param terrain_report C-struct to read the message contents from
 146  */
 147 static inline uint16_t mavlink_msg_terrain_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_terrain_report_t* terrain_report)
 148 {
 149         return mavlink_msg_terrain_report_pack(system_id, component_id, msg, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
 150 }
 151
 152 /**
 153  * @brief Encode a terrain_report struct on a channel
 154  *
 155  * @param system_id ID of this system
 156  * @param component_id ID of this component (e.g. 200 for IMU)
 157  * @param chan The MAVLink channel this message will be sent over
 158  * @param msg The MAVLink message to compress the data into
 159  * @param terrain_report C-struct to read the message contents from
 160  */
 161 static inline uint16_t mavlink_msg_terrain_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_terrain_report_t* terrain_report)
 162 {
 163         return mavlink_msg_terrain_report_pack_chan(system_id, component_id, chan, msg, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
 164 }
 165
 166 /**
 167  * @brief Send a terrain_report message
 168  * @param chan MAVLink channel to send the message
 169  *
 170  * @param lat Latitude (degrees *10^7)
 171  * @param lon Longitude (degrees *10^7)
 172  * @param spacing grid spacing (zero if terrain at this location unavailable)
 173  * @param terrain_height Terrain height in meters AMSL
 174  * @param current_height Current vehicle height above lat/lon terrain height (meters)
 175  * @param pending Number of 4x4 terrain blocks waiting to be received or read from disk
 176  * @param loaded Number of 4x4 terrain blocks in memory
 177  */
 178 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 179
 180 static inline void mavlink_msg_terrain_report_send(mavlink_channel_t chan, int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
 181 {
 182 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 183         char buf[MAVLINK_MSG_ID_TERRAIN_REPORT_LEN];
 184         _mav_put_int32_t(buf, 0, lat);
 185         _mav_put_int32_t(buf, 4, lon);
 186         _mav_put_float(buf, 8, terrain_height);
 187         _mav_put_float(buf, 12, current_height);
 188         _mav_put_uint16_t(buf, 16, spacing);
 189         _mav_put_uint16_t(buf, 18, pending);
 190         _mav_put_uint16_t(buf, 20, loaded);
 191
 192 #if MAVLINK_CRC_EXTRA
 193     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 194 #else
 195     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 196 #endif
 197 #else
 198         mavlink_terrain_report_t packet;
 199         packet.lat = lat;
 200         packet.lon = lon;
 201         packet.terrain_height = terrain_height;
 202         packet.current_height = current_height;
 203         packet.spacing = spacing;
 204         packet.pending = pending;
 205         packet.loaded = loaded;
 206
 207 #if MAVLINK_CRC_EXTRA
 208     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)&packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 209 #else
 210     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)&packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 211 #endif
 212 #endif
 213 }
 214
 215 #if MAVLINK_MSG_ID_TERRAIN_REPORT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 216 /*
 217   This varient of _send() can be used to save stack space by re-using
 218   memory from the receive buffer.  The caller provides a
 219   mavlink_message_t which is the size of a full mavlink message. This
 220   is usually the receive buffer for the channel, and allows a reply to an
 221   incoming message with minimum stack space usage.
 222  */
 223 static inline void mavlink_msg_terrain_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
 224 {
 225 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 226         char *buf = (char *)msgbuf;
 227         _mav_put_int32_t(buf, 0, lat);
 228         _mav_put_int32_t(buf, 4, lon);
 229         _mav_put_float(buf, 8, terrain_height);
 230         _mav_put_float(buf, 12, current_height);
 231         _mav_put_uint16_t(buf, 16, spacing);
 232         _mav_put_uint16_t(buf, 18, pending);
 233         _mav_put_uint16_t(buf, 20, loaded);
 234
 235 #if MAVLINK_CRC_EXTRA
 236     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 237 #else
 238     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 239 #endif
 240 #else
 241         mavlink_terrain_report_t *packet = (mavlink_terrain_report_t *)msgbuf;
 242         packet->lat = lat;
 243         packet->lon = lon;
 244         packet->terrain_height = terrain_height;
 245         packet->current_height = current_height;
 246         packet->spacing = spacing;
 247         packet->pending = pending;
 248         packet->loaded = loaded;
 249
 250 #if MAVLINK_CRC_EXTRA
 251     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 252 #else
 253     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 254 #endif
 255 #endif
 256 }
 257 #endif
 258
 259 #endif
 260
 261 // MESSAGE TERRAIN_REPORT UNPACKING
 262
 263
 264 /**
 265  * @brief Get field lat from terrain_report message
 266  *
 267  * @return Latitude (degrees *10^7)
 268  */
 269 static inline int32_t mavlink_msg_terrain_report_get_lat(const mavlink_message_t* msg)
 270 {
 271         return _MAV_RETURN_int32_t(msg,  0);
 272 }
 273
 274 /**
 275  * @brief Get field lon from terrain_report message
 276  *
 277  * @return Longitude (degrees *10^7)
 278  */
 279 static inline int32_t mavlink_msg_terrain_report_get_lon(const mavlink_message_t* msg)
 280 {
 281         return _MAV_RETURN_int32_t(msg,  4);
 282 }
 283
 284 /**
 285  * @brief Get field spacing from terrain_report message
 286  *
 287  * @return grid spacing (zero if terrain at this location unavailable)
 288  */
 289 static inline uint16_t mavlink_msg_terrain_report_get_spacing(const mavlink_message_t* msg)
 290 {
 291         return _MAV_RETURN_uint16_t(msg,  16);
 292 }
 293
 294 /**
 295  * @brief Get field terrain_height from terrain_report message
 296  *
 297  * @return Terrain height in meters AMSL
 298  */
 299 static inline float mavlink_msg_terrain_report_get_terrain_height(const mavlink_message_t* msg)
 300 {
 301         return _MAV_RETURN_float(msg,  8);
 302 }
 303
 304 /**
 305  * @brief Get field current_height from terrain_report message
 306  *
 307  * @return Current vehicle height above lat/lon terrain height (meters)
 308  */
 309 static inline float mavlink_msg_terrain_report_get_current_height(const mavlink_message_t* msg)
 310 {
 311         return _MAV_RETURN_float(msg,  12);
 312 }
 313
 314 /**
 315  * @brief Get field pending from terrain_report message
 316  *
 317  * @return Number of 4x4 terrain blocks waiting to be received or read from disk
 318  */
 319 static inline uint16_t mavlink_msg_terrain_report_get_pending(const mavlink_message_t* msg)
 320 {
 321         return _MAV_RETURN_uint16_t(msg,  18);
 322 }
 323
 324 /**
 325  * @brief Get field loaded from terrain_report message
 326  *
 327  * @return Number of 4x4 terrain blocks in memory
 328  */
 329 static inline uint16_t mavlink_msg_terrain_report_get_loaded(const mavlink_message_t* msg)
 330 {
 331         return _MAV_RETURN_uint16_t(msg,  20);
 332 }
 333
 334 /**
 335  * @brief Decode a terrain_report message into a struct
 336  *
 337  * @param msg The message to decode
 338  * @param terrain_report C-struct to decode the message contents into
 339  */
 340 static inline void mavlink_msg_terrain_report_decode(const mavlink_message_t* msg, mavlink_terrain_report_t* terrain_report)
 341 {
 342 #if MAVLINK_NEED_BYTE_SWAP
 343         terrain_report->lat = mavlink_msg_terrain_report_get_lat(msg);
 344         terrain_report->lon = mavlink_msg_terrain_report_get_lon(msg);
 345         terrain_report->terrain_height = mavlink_msg_terrain_report_get_terrain_height(msg);
 346         terrain_report->current_height = mavlink_msg_terrain_report_get_current_height(msg);
 347         terrain_report->spacing = mavlink_msg_terrain_report_get_spacing(msg);
 348         terrain_report->pending = mavlink_msg_terrain_report_get_pending(msg);
 349         terrain_report->loaded = mavlink_msg_terrain_report_get_loaded(msg);
 350 #else
 351         memcpy(terrain_report, _MAV_PAYLOAD(msg), MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 352 #endif
 353 }