lib/main/MAVLink/common/mavlink_msg_altitude.h

   1 #pragma once
   2 // MESSAGE ALTITUDE PACKING
   3
   4 #define MAVLINK_MSG_ID_ALTITUDE 141
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_altitude_t {
   8  uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
   9  float altitude_monotonic; /*< This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.*/
  10  float altitude_amsl; /*< This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.*/
  11  float altitude_local; /*< This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.*/
  12  float altitude_relative; /*< This is the altitude above the home position. It resets on each change of the current home position.*/
  13  float altitude_terrain; /*< This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.*/
  14  float bottom_clearance; /*< This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.*/
  15 }) mavlink_altitude_t;
  16
  17 #define MAVLINK_MSG_ID_ALTITUDE_LEN 32
  18 #define MAVLINK_MSG_ID_ALTITUDE_MIN_LEN 32
  19 #define MAVLINK_MSG_ID_141_LEN 32
  20 #define MAVLINK_MSG_ID_141_MIN_LEN 32
  21
  22 #define MAVLINK_MSG_ID_ALTITUDE_CRC 47
  23 #define MAVLINK_MSG_ID_141_CRC 47
  24
  25
  26
  27 #if MAVLINK_COMMAND_24BIT
  28 #define MAVLINK_MESSAGE_INFO_ALTITUDE { \
  29     141, \
  30     "ALTITUDE", \
  31     7, \
  32     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_altitude_t, time_usec) }, \
  33          { "altitude_monotonic", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_altitude_t, altitude_monotonic) }, \
  34          { "altitude_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_altitude_t, altitude_amsl) }, \
  35          { "altitude_local", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_altitude_t, altitude_local) }, \
  36          { "altitude_relative", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_altitude_t, altitude_relative) }, \
  37          { "altitude_terrain", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_altitude_t, altitude_terrain) }, \
  38          { "bottom_clearance", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_altitude_t, bottom_clearance) }, \
  39          } \
  40 }
  41 #else
  42 #define MAVLINK_MESSAGE_INFO_ALTITUDE { \
  43     "ALTITUDE", \
  44     7, \
  45     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_altitude_t, time_usec) }, \
  46          { "altitude_monotonic", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_altitude_t, altitude_monotonic) }, \
  47          { "altitude_amsl", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_altitude_t, altitude_amsl) }, \
  48          { "altitude_local", NULL, MAVLINK_TYPE_FLOAT, 0, 16, offsetof(mavlink_altitude_t, altitude_local) }, \
  49          { "altitude_relative", NULL, MAVLINK_TYPE_FLOAT, 0, 20, offsetof(mavlink_altitude_t, altitude_relative) }, \
  50          { "altitude_terrain", NULL, MAVLINK_TYPE_FLOAT, 0, 24, offsetof(mavlink_altitude_t, altitude_terrain) }, \
  51          { "bottom_clearance", NULL, MAVLINK_TYPE_FLOAT, 0, 28, offsetof(mavlink_altitude_t, bottom_clearance) }, \
  52          } \
  53 }
  54 #endif
  55
  56 /**
  57  * @brief Pack a altitude message
  58  * @param system_id ID of this system
  59  * @param component_id ID of this component (e.g. 200 for IMU)
  60  * @param msg The MAVLink message to compress the data into
  61  *
  62  * @param time_usec Timestamp (micros since boot or Unix epoch)
  63  * @param altitude_monotonic This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
  64  * @param altitude_amsl This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
  65  * @param altitude_local This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
  66  * @param altitude_relative This is the altitude above the home position. It resets on each change of the current home position.
  67  * @param altitude_terrain This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
  68  * @param bottom_clearance This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
  69  * @return length of the message in bytes (excluding serial stream start sign)
  70  */
  71 static inline uint16_t mavlink_msg_altitude_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  72                                uint64_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
  73 {
  74 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  75     char buf[MAVLINK_MSG_ID_ALTITUDE_LEN];
  76     _mav_put_uint64_t(buf, 0, time_usec);
  77     _mav_put_float(buf, 8, altitude_monotonic);
  78     _mav_put_float(buf, 12, altitude_amsl);
  79     _mav_put_float(buf, 16, altitude_local);
  80     _mav_put_float(buf, 20, altitude_relative);
  81     _mav_put_float(buf, 24, altitude_terrain);
  82     _mav_put_float(buf, 28, bottom_clearance);
  83
  84         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDE_LEN);
  85 #else
  86     mavlink_altitude_t packet;
  87     packet.time_usec = time_usec;
  88     packet.altitude_monotonic = altitude_monotonic;
  89     packet.altitude_amsl = altitude_amsl;
  90     packet.altitude_local = altitude_local;
  91     packet.altitude_relative = altitude_relative;
  92     packet.altitude_terrain = altitude_terrain;
  93     packet.bottom_clearance = bottom_clearance;
  94
  95         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ALTITUDE_LEN);
  96 #endif
  97
  98     msg->msgid = MAVLINK_MSG_ID_ALTITUDE;
  99     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
 100 }
 101
 102 /**
 103  * @brief Pack a altitude message on a channel
 104  * @param system_id ID of this system
 105  * @param component_id ID of this component (e.g. 200 for IMU)
 106  * @param chan The MAVLink channel this message will be sent over
 107  * @param msg The MAVLink message to compress the data into
 108  * @param time_usec Timestamp (micros since boot or Unix epoch)
 109  * @param altitude_monotonic This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
 110  * @param altitude_amsl This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
 111  * @param altitude_local This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
 112  * @param altitude_relative This is the altitude above the home position. It resets on each change of the current home position.
 113  * @param altitude_terrain This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
 114  * @param bottom_clearance This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
 115  * @return length of the message in bytes (excluding serial stream start sign)
 116  */
 117 static inline uint16_t mavlink_msg_altitude_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 118                                mavlink_message_t* msg,
 119                                    uint64_t time_usec,float altitude_monotonic,float altitude_amsl,float altitude_local,float altitude_relative,float altitude_terrain,float bottom_clearance)
 120 {
 121 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 122     char buf[MAVLINK_MSG_ID_ALTITUDE_LEN];
 123     _mav_put_uint64_t(buf, 0, time_usec);
 124     _mav_put_float(buf, 8, altitude_monotonic);
 125     _mav_put_float(buf, 12, altitude_amsl);
 126     _mav_put_float(buf, 16, altitude_local);
 127     _mav_put_float(buf, 20, altitude_relative);
 128     _mav_put_float(buf, 24, altitude_terrain);
 129     _mav_put_float(buf, 28, bottom_clearance);
 130
 131         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_ALTITUDE_LEN);
 132 #else
 133     mavlink_altitude_t packet;
 134     packet.time_usec = time_usec;
 135     packet.altitude_monotonic = altitude_monotonic;
 136     packet.altitude_amsl = altitude_amsl;
 137     packet.altitude_local = altitude_local;
 138     packet.altitude_relative = altitude_relative;
 139     packet.altitude_terrain = altitude_terrain;
 140     packet.bottom_clearance = bottom_clearance;
 141
 142         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_ALTITUDE_LEN);
 143 #endif
 144
 145     msg->msgid = MAVLINK_MSG_ID_ALTITUDE;
 146     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
 147 }
 148
 149 /**
 150  * @brief Encode a altitude struct
 151  *
 152  * @param system_id ID of this system
 153  * @param component_id ID of this component (e.g. 200 for IMU)
 154  * @param msg The MAVLink message to compress the data into
 155  * @param altitude C-struct to read the message contents from
 156  */
 157 static inline uint16_t mavlink_msg_altitude_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_altitude_t* altitude)
 158 {
 159     return mavlink_msg_altitude_pack(system_id, component_id, msg, altitude->time_usec, altitude->altitude_monotonic, altitude->altitude_amsl, altitude->altitude_local, altitude->altitude_relative, altitude->altitude_terrain, altitude->bottom_clearance);
 160 }
 161
 162 /**
 163  * @brief Encode a altitude struct on a channel
 164  *
 165  * @param system_id ID of this system
 166  * @param component_id ID of this component (e.g. 200 for IMU)
 167  * @param chan The MAVLink channel this message will be sent over
 168  * @param msg The MAVLink message to compress the data into
 169  * @param altitude C-struct to read the message contents from
 170  */
 171 static inline uint16_t mavlink_msg_altitude_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_altitude_t* altitude)
 172 {
 173     return mavlink_msg_altitude_pack_chan(system_id, component_id, chan, msg, altitude->time_usec, altitude->altitude_monotonic, altitude->altitude_amsl, altitude->altitude_local, altitude->altitude_relative, altitude->altitude_terrain, altitude->bottom_clearance);
 174 }
 175
 176 /**
 177  * @brief Send a altitude message
 178  * @param chan MAVLink channel to send the message
 179  *
 180  * @param time_usec Timestamp (micros since boot or Unix epoch)
 181  * @param altitude_monotonic This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
 182  * @param altitude_amsl This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
 183  * @param altitude_local This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
 184  * @param altitude_relative This is the altitude above the home position. It resets on each change of the current home position.
 185  * @param altitude_terrain This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
 186  * @param bottom_clearance This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
 187  */
 188 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 189
 190 static inline void mavlink_msg_altitude_send(mavlink_channel_t chan, uint64_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
 191 {
 192 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 193     char buf[MAVLINK_MSG_ID_ALTITUDE_LEN];
 194     _mav_put_uint64_t(buf, 0, time_usec);
 195     _mav_put_float(buf, 8, altitude_monotonic);
 196     _mav_put_float(buf, 12, altitude_amsl);
 197     _mav_put_float(buf, 16, altitude_local);
 198     _mav_put_float(buf, 20, altitude_relative);
 199     _mav_put_float(buf, 24, altitude_terrain);
 200     _mav_put_float(buf, 28, bottom_clearance);
 201
 202     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, buf, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
 203 #else
 204     mavlink_altitude_t packet;
 205     packet.time_usec = time_usec;
 206     packet.altitude_monotonic = altitude_monotonic;
 207     packet.altitude_amsl = altitude_amsl;
 208     packet.altitude_local = altitude_local;
 209     packet.altitude_relative = altitude_relative;
 210     packet.altitude_terrain = altitude_terrain;
 211     packet.bottom_clearance = bottom_clearance;
 212
 213     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, (const char *)&packet, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
 214 #endif
 215 }
 216
 217 /**
 218  * @brief Send a altitude message
 219  * @param chan MAVLink channel to send the message
 220  * @param struct The MAVLink struct to serialize
 221  */
 222 static inline void mavlink_msg_altitude_send_struct(mavlink_channel_t chan, const mavlink_altitude_t* altitude)
 223 {
 224 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 225     mavlink_msg_altitude_send(chan, altitude->time_usec, altitude->altitude_monotonic, altitude->altitude_amsl, altitude->altitude_local, altitude->altitude_relative, altitude->altitude_terrain, altitude->bottom_clearance);
 226 #else
 227     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, (const char *)altitude, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
 228 #endif
 229 }
 230
 231 #if MAVLINK_MSG_ID_ALTITUDE_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 232 /*
 233   This varient of _send() can be used to save stack space by re-using
 234   memory from the receive buffer.  The caller provides a
 235   mavlink_message_t which is the size of a full mavlink message. This
 236   is usually the receive buffer for the channel, and allows a reply to an
 237   incoming message with minimum stack space usage.
 238  */
 239 static inline void mavlink_msg_altitude_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, float altitude_monotonic, float altitude_amsl, float altitude_local, float altitude_relative, float altitude_terrain, float bottom_clearance)
 240 {
 241 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 242     char *buf = (char *)msgbuf;
 243     _mav_put_uint64_t(buf, 0, time_usec);
 244     _mav_put_float(buf, 8, altitude_monotonic);
 245     _mav_put_float(buf, 12, altitude_amsl);
 246     _mav_put_float(buf, 16, altitude_local);
 247     _mav_put_float(buf, 20, altitude_relative);
 248     _mav_put_float(buf, 24, altitude_terrain);
 249     _mav_put_float(buf, 28, bottom_clearance);
 250
 251     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, buf, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
 252 #else
 253     mavlink_altitude_t *packet = (mavlink_altitude_t *)msgbuf;
 254     packet->time_usec = time_usec;
 255     packet->altitude_monotonic = altitude_monotonic;
 256     packet->altitude_amsl = altitude_amsl;
 257     packet->altitude_local = altitude_local;
 258     packet->altitude_relative = altitude_relative;
 259     packet->altitude_terrain = altitude_terrain;
 260     packet->bottom_clearance = bottom_clearance;
 261
 262     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_ALTITUDE, (const char *)packet, MAVLINK_MSG_ID_ALTITUDE_MIN_LEN, MAVLINK_MSG_ID_ALTITUDE_LEN, MAVLINK_MSG_ID_ALTITUDE_CRC);
 263 #endif
 264 }
 265 #endif
 266
 267 #endif
 268
 269 // MESSAGE ALTITUDE UNPACKING
 270
 271
 272 /**
 273  * @brief Get field time_usec from altitude message
 274  *
 275  * @return Timestamp (micros since boot or Unix epoch)
 276  */
 277 static inline uint64_t mavlink_msg_altitude_get_time_usec(const mavlink_message_t* msg)
 278 {
 279     return _MAV_RETURN_uint64_t(msg,  0);
 280 }
 281
 282 /**
 283  * @brief Get field altitude_monotonic from altitude message
 284  *
 285  * @return This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
 286  */
 287 static inline float mavlink_msg_altitude_get_altitude_monotonic(const mavlink_message_t* msg)
 288 {
 289     return _MAV_RETURN_float(msg,  8);
 290 }
 291
 292 /**
 293  * @brief Get field altitude_amsl from altitude message
 294  *
 295  * @return This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
 296  */
 297 static inline float mavlink_msg_altitude_get_altitude_amsl(const mavlink_message_t* msg)
 298 {
 299     return _MAV_RETURN_float(msg,  12);
 300 }
 301
 302 /**
 303  * @brief Get field altitude_local from altitude message
 304  *
 305  * @return This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
 306  */
 307 static inline float mavlink_msg_altitude_get_altitude_local(const mavlink_message_t* msg)
 308 {
 309     return _MAV_RETURN_float(msg,  16);
 310 }
 311
 312 /**
 313  * @brief Get field altitude_relative from altitude message
 314  *
 315  * @return This is the altitude above the home position. It resets on each change of the current home position.
 316  */
 317 static inline float mavlink_msg_altitude_get_altitude_relative(const mavlink_message_t* msg)
 318 {
 319     return _MAV_RETURN_float(msg,  20);
 320 }
 321
 322 /**
 323  * @brief Get field altitude_terrain from altitude message
 324  *
 325  * @return This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
 326  */
 327 static inline float mavlink_msg_altitude_get_altitude_terrain(const mavlink_message_t* msg)
 328 {
 329     return _MAV_RETURN_float(msg,  24);
 330 }
 331
 332 /**
 333  * @brief Get field bottom_clearance from altitude message
 334  *
 335  * @return This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
 336  */
 337 static inline float mavlink_msg_altitude_get_bottom_clearance(const mavlink_message_t* msg)
 338 {
 339     return _MAV_RETURN_float(msg,  28);
 340 }
 341
 342 /**
 343  * @brief Decode a altitude message into a struct
 344  *
 345  * @param msg The message to decode
 346  * @param altitude C-struct to decode the message contents into
 347  */
 348 static inline void mavlink_msg_altitude_decode(const mavlink_message_t* msg, mavlink_altitude_t* altitude)
 349 {
 350 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 351     altitude->time_usec = mavlink_msg_altitude_get_time_usec(msg);
 352     altitude->altitude_monotonic = mavlink_msg_altitude_get_altitude_monotonic(msg);
 353     altitude->altitude_amsl = mavlink_msg_altitude_get_altitude_amsl(msg);
 354     altitude->altitude_local = mavlink_msg_altitude_get_altitude_local(msg);
 355     altitude->altitude_relative = mavlink_msg_altitude_get_altitude_relative(msg);
 356     altitude->altitude_terrain = mavlink_msg_altitude_get_altitude_terrain(msg);
 357     altitude->bottom_clearance = mavlink_msg_altitude_get_bottom_clearance(msg);
 358 #else
 359         uint8_t len = msg->len < MAVLINK_MSG_ID_ALTITUDE_LEN? msg->len : MAVLINK_MSG_ID_ALTITUDE_LEN;
 360         memset(altitude, 0, MAVLINK_MSG_ID_ALTITUDE_LEN);
 361     memcpy(altitude, _MAV_PAYLOAD(msg), len);
 362 #endif
 363 }