lib/main/MAVLink/common/mavlink_msg_global_position_int.h

   1 #pragma once
   2 // MESSAGE GLOBAL_POSITION_INT PACKING
   3
   4 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT 33
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_global_position_int_t {
   8  uint32_t time_boot_ms; /*< Timestamp (milliseconds since system boot)*/
   9  int32_t lat; /*< Latitude, expressed as degrees * 1E7*/
  10  int32_t lon; /*< Longitude, expressed as degrees * 1E7*/
  11  int32_t alt; /*< Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)*/
  12  int32_t relative_alt; /*< Altitude above ground in meters, expressed as * 1000 (millimeters)*/
  13  int16_t vx; /*< Ground X Speed (Latitude, positive north), expressed as m/s * 100*/
  14  int16_t vy; /*< Ground Y Speed (Longitude, positive east), expressed as m/s * 100*/
  15  int16_t vz; /*< Ground Z Speed (Altitude, positive down), expressed as m/s * 100*/
  16  uint16_t hdg; /*< Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/
  17 }) mavlink_global_position_int_t;
  18
  19 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN 28
  20 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN 28
  21 #define MAVLINK_MSG_ID_33_LEN 28
  22 #define MAVLINK_MSG_ID_33_MIN_LEN 28
  23
  24 #define MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC 104
  25 #define MAVLINK_MSG_ID_33_CRC 104
  26
  27
  28
  29 #if MAVLINK_COMMAND_24BIT
  30 #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
  31     33, \
  32     "GLOBAL_POSITION_INT", \
  33     9, \
  34     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
  35          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
  36          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
  37          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
  38          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
  39          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
  40          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
  41          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
  42          { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
  43          } \
  44 }
  45 #else
  46 #define MAVLINK_MESSAGE_INFO_GLOBAL_POSITION_INT { \
  47     "GLOBAL_POSITION_INT", \
  48     9, \
  49     {  { "time_boot_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_global_position_int_t, time_boot_ms) }, \
  50          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_global_position_int_t, lat) }, \
  51          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_global_position_int_t, lon) }, \
  52          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_global_position_int_t, alt) }, \
  53          { "relative_alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_global_position_int_t, relative_alt) }, \
  54          { "vx", NULL, MAVLINK_TYPE_INT16_T, 0, 20, offsetof(mavlink_global_position_int_t, vx) }, \
  55          { "vy", NULL, MAVLINK_TYPE_INT16_T, 0, 22, offsetof(mavlink_global_position_int_t, vy) }, \
  56          { "vz", NULL, MAVLINK_TYPE_INT16_T, 0, 24, offsetof(mavlink_global_position_int_t, vz) }, \
  57          { "hdg", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_global_position_int_t, hdg) }, \
  58          } \
  59 }
  60 #endif
  61
  62 /**
  63  * @brief Pack a global_position_int message
  64  * @param system_id ID of this system
  65  * @param component_id ID of this component (e.g. 200 for IMU)
  66  * @param msg The MAVLink message to compress the data into
  67  *
  68  * @param time_boot_ms Timestamp (milliseconds since system boot)
  69  * @param lat Latitude, expressed as degrees * 1E7
  70  * @param lon Longitude, expressed as degrees * 1E7
  71  * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
  72  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
  73  * @param vx Ground X Speed (Latitude, positive north), expressed as m/s * 100
  74  * @param vy Ground Y Speed (Longitude, positive east), expressed as m/s * 100
  75  * @param vz Ground Z Speed (Altitude, positive down), expressed as m/s * 100
  76  * @param hdg Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
  77  * @return length of the message in bytes (excluding serial stream start sign)
  78  */
  79 static inline uint16_t mavlink_msg_global_position_int_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  80                                uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
  81 {
  82 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  83     char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
  84     _mav_put_uint32_t(buf, 0, time_boot_ms);
  85     _mav_put_int32_t(buf, 4, lat);
  86     _mav_put_int32_t(buf, 8, lon);
  87     _mav_put_int32_t(buf, 12, alt);
  88     _mav_put_int32_t(buf, 16, relative_alt);
  89     _mav_put_int16_t(buf, 20, vx);
  90     _mav_put_int16_t(buf, 22, vy);
  91     _mav_put_int16_t(buf, 24, vz);
  92     _mav_put_uint16_t(buf, 26, hdg);
  93
  94         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
  95 #else
  96     mavlink_global_position_int_t packet;
  97     packet.time_boot_ms = time_boot_ms;
  98     packet.lat = lat;
  99     packet.lon = lon;
 100     packet.alt = alt;
 101     packet.relative_alt = relative_alt;
 102     packet.vx = vx;
 103     packet.vy = vy;
 104     packet.vz = vz;
 105     packet.hdg = hdg;
 106
 107         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 108 #endif
 109
 110     msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
 111     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 112 }
 113
 114 /**
 115  * @brief Pack a global_position_int message on a channel
 116  * @param system_id ID of this system
 117  * @param component_id ID of this component (e.g. 200 for IMU)
 118  * @param chan The MAVLink channel this message will be sent over
 119  * @param msg The MAVLink message to compress the data into
 120  * @param time_boot_ms Timestamp (milliseconds since system boot)
 121  * @param lat Latitude, expressed as degrees * 1E7
 122  * @param lon Longitude, expressed as degrees * 1E7
 123  * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
 124  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 125  * @param vx Ground X Speed (Latitude, positive north), expressed as m/s * 100
 126  * @param vy Ground Y Speed (Longitude, positive east), expressed as m/s * 100
 127  * @param vz Ground Z Speed (Altitude, positive down), expressed as m/s * 100
 128  * @param hdg Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 129  * @return length of the message in bytes (excluding serial stream start sign)
 130  */
 131 static inline uint16_t mavlink_msg_global_position_int_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 132                                mavlink_message_t* msg,
 133                                    uint32_t time_boot_ms,int32_t lat,int32_t lon,int32_t alt,int32_t relative_alt,int16_t vx,int16_t vy,int16_t vz,uint16_t hdg)
 134 {
 135 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 136     char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
 137     _mav_put_uint32_t(buf, 0, time_boot_ms);
 138     _mav_put_int32_t(buf, 4, lat);
 139     _mav_put_int32_t(buf, 8, lon);
 140     _mav_put_int32_t(buf, 12, alt);
 141     _mav_put_int32_t(buf, 16, relative_alt);
 142     _mav_put_int16_t(buf, 20, vx);
 143     _mav_put_int16_t(buf, 22, vy);
 144     _mav_put_int16_t(buf, 24, vz);
 145     _mav_put_uint16_t(buf, 26, hdg);
 146
 147         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 148 #else
 149     mavlink_global_position_int_t packet;
 150     packet.time_boot_ms = time_boot_ms;
 151     packet.lat = lat;
 152     packet.lon = lon;
 153     packet.alt = alt;
 154     packet.relative_alt = relative_alt;
 155     packet.vx = vx;
 156     packet.vy = vy;
 157     packet.vz = vz;
 158     packet.hdg = hdg;
 159
 160         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 161 #endif
 162
 163     msg->msgid = MAVLINK_MSG_ID_GLOBAL_POSITION_INT;
 164     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 165 }
 166
 167 /**
 168  * @brief Encode a global_position_int struct
 169  *
 170  * @param system_id ID of this system
 171  * @param component_id ID of this component (e.g. 200 for IMU)
 172  * @param msg The MAVLink message to compress the data into
 173  * @param global_position_int C-struct to read the message contents from
 174  */
 175 static inline uint16_t mavlink_msg_global_position_int_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
 176 {
 177     return mavlink_msg_global_position_int_pack(system_id, component_id, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
 178 }
 179
 180 /**
 181  * @brief Encode a global_position_int struct on a channel
 182  *
 183  * @param system_id ID of this system
 184  * @param component_id ID of this component (e.g. 200 for IMU)
 185  * @param chan The MAVLink channel this message will be sent over
 186  * @param msg The MAVLink message to compress the data into
 187  * @param global_position_int C-struct to read the message contents from
 188  */
 189 static inline uint16_t mavlink_msg_global_position_int_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_global_position_int_t* global_position_int)
 190 {
 191     return mavlink_msg_global_position_int_pack_chan(system_id, component_id, chan, msg, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
 192 }
 193
 194 /**
 195  * @brief Send a global_position_int message
 196  * @param chan MAVLink channel to send the message
 197  *
 198  * @param time_boot_ms Timestamp (milliseconds since system boot)
 199  * @param lat Latitude, expressed as degrees * 1E7
 200  * @param lon Longitude, expressed as degrees * 1E7
 201  * @param alt Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
 202  * @param relative_alt Altitude above ground in meters, expressed as * 1000 (millimeters)
 203  * @param vx Ground X Speed (Latitude, positive north), expressed as m/s * 100
 204  * @param vy Ground Y Speed (Longitude, positive east), expressed as m/s * 100
 205  * @param vz Ground Z Speed (Altitude, positive down), expressed as m/s * 100
 206  * @param hdg Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 207  */
 208 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 209
 210 static inline void mavlink_msg_global_position_int_send(mavlink_channel_t chan, uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
 211 {
 212 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 213     char buf[MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN];
 214     _mav_put_uint32_t(buf, 0, time_boot_ms);
 215     _mav_put_int32_t(buf, 4, lat);
 216     _mav_put_int32_t(buf, 8, lon);
 217     _mav_put_int32_t(buf, 12, alt);
 218     _mav_put_int32_t(buf, 16, relative_alt);
 219     _mav_put_int16_t(buf, 20, vx);
 220     _mav_put_int16_t(buf, 22, vy);
 221     _mav_put_int16_t(buf, 24, vz);
 222     _mav_put_uint16_t(buf, 26, hdg);
 223
 224     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 225 #else
 226     mavlink_global_position_int_t packet;
 227     packet.time_boot_ms = time_boot_ms;
 228     packet.lat = lat;
 229     packet.lon = lon;
 230     packet.alt = alt;
 231     packet.relative_alt = relative_alt;
 232     packet.vx = vx;
 233     packet.vy = vy;
 234     packet.vz = vz;
 235     packet.hdg = hdg;
 236
 237     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)&packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 238 #endif
 239 }
 240
 241 /**
 242  * @brief Send a global_position_int message
 243  * @param chan MAVLink channel to send the message
 244  * @param struct The MAVLink struct to serialize
 245  */
 246 static inline void mavlink_msg_global_position_int_send_struct(mavlink_channel_t chan, const mavlink_global_position_int_t* global_position_int)
 247 {
 248 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 249     mavlink_msg_global_position_int_send(chan, global_position_int->time_boot_ms, global_position_int->lat, global_position_int->lon, global_position_int->alt, global_position_int->relative_alt, global_position_int->vx, global_position_int->vy, global_position_int->vz, global_position_int->hdg);
 250 #else
 251     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)global_position_int, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 252 #endif
 253 }
 254
 255 #if MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 256 /*
 257   This varient of _send() can be used to save stack space by re-using
 258   memory from the receive buffer.  The caller provides a
 259   mavlink_message_t which is the size of a full mavlink message. This
 260   is usually the receive buffer for the channel, and allows a reply to an
 261   incoming message with minimum stack space usage.
 262  */
 263 static inline void mavlink_msg_global_position_int_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_boot_ms, int32_t lat, int32_t lon, int32_t alt, int32_t relative_alt, int16_t vx, int16_t vy, int16_t vz, uint16_t hdg)
 264 {
 265 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 266     char *buf = (char *)msgbuf;
 267     _mav_put_uint32_t(buf, 0, time_boot_ms);
 268     _mav_put_int32_t(buf, 4, lat);
 269     _mav_put_int32_t(buf, 8, lon);
 270     _mav_put_int32_t(buf, 12, alt);
 271     _mav_put_int32_t(buf, 16, relative_alt);
 272     _mav_put_int16_t(buf, 20, vx);
 273     _mav_put_int16_t(buf, 22, vy);
 274     _mav_put_int16_t(buf, 24, vz);
 275     _mav_put_uint16_t(buf, 26, hdg);
 276
 277     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, buf, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 278 #else
 279     mavlink_global_position_int_t *packet = (mavlink_global_position_int_t *)msgbuf;
 280     packet->time_boot_ms = time_boot_ms;
 281     packet->lat = lat;
 282     packet->lon = lon;
 283     packet->alt = alt;
 284     packet->relative_alt = relative_alt;
 285     packet->vx = vx;
 286     packet->vy = vy;
 287     packet->vz = vz;
 288     packet->hdg = hdg;
 289
 290     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GLOBAL_POSITION_INT, (const char *)packet, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_MIN_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_CRC);
 291 #endif
 292 }
 293 #endif
 294
 295 #endif
 296
 297 // MESSAGE GLOBAL_POSITION_INT UNPACKING
 298
 299
 300 /**
 301  * @brief Get field time_boot_ms from global_position_int message
 302  *
 303  * @return Timestamp (milliseconds since system boot)
 304  */
 305 static inline uint32_t mavlink_msg_global_position_int_get_time_boot_ms(const mavlink_message_t* msg)
 306 {
 307     return _MAV_RETURN_uint32_t(msg,  0);
 308 }
 309
 310 /**
 311  * @brief Get field lat from global_position_int message
 312  *
 313  * @return Latitude, expressed as degrees * 1E7
 314  */
 315 static inline int32_t mavlink_msg_global_position_int_get_lat(const mavlink_message_t* msg)
 316 {
 317     return _MAV_RETURN_int32_t(msg,  4);
 318 }
 319
 320 /**
 321  * @brief Get field lon from global_position_int message
 322  *
 323  * @return Longitude, expressed as degrees * 1E7
 324  */
 325 static inline int32_t mavlink_msg_global_position_int_get_lon(const mavlink_message_t* msg)
 326 {
 327     return _MAV_RETURN_int32_t(msg,  8);
 328 }
 329
 330 /**
 331  * @brief Get field alt from global_position_int message
 332  *
 333  * @return Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
 334  */
 335 static inline int32_t mavlink_msg_global_position_int_get_alt(const mavlink_message_t* msg)
 336 {
 337     return _MAV_RETURN_int32_t(msg,  12);
 338 }
 339
 340 /**
 341  * @brief Get field relative_alt from global_position_int message
 342  *
 343  * @return Altitude above ground in meters, expressed as * 1000 (millimeters)
 344  */
 345 static inline int32_t mavlink_msg_global_position_int_get_relative_alt(const mavlink_message_t* msg)
 346 {
 347     return _MAV_RETURN_int32_t(msg,  16);
 348 }
 349
 350 /**
 351  * @brief Get field vx from global_position_int message
 352  *
 353  * @return Ground X Speed (Latitude, positive north), expressed as m/s * 100
 354  */
 355 static inline int16_t mavlink_msg_global_position_int_get_vx(const mavlink_message_t* msg)
 356 {
 357     return _MAV_RETURN_int16_t(msg,  20);
 358 }
 359
 360 /**
 361  * @brief Get field vy from global_position_int message
 362  *
 363  * @return Ground Y Speed (Longitude, positive east), expressed as m/s * 100
 364  */
 365 static inline int16_t mavlink_msg_global_position_int_get_vy(const mavlink_message_t* msg)
 366 {
 367     return _MAV_RETURN_int16_t(msg,  22);
 368 }
 369
 370 /**
 371  * @brief Get field vz from global_position_int message
 372  *
 373  * @return Ground Z Speed (Altitude, positive down), expressed as m/s * 100
 374  */
 375 static inline int16_t mavlink_msg_global_position_int_get_vz(const mavlink_message_t* msg)
 376 {
 377     return _MAV_RETURN_int16_t(msg,  24);
 378 }
 379
 380 /**
 381  * @brief Get field hdg from global_position_int message
 382  *
 383  * @return Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 384  */
 385 static inline uint16_t mavlink_msg_global_position_int_get_hdg(const mavlink_message_t* msg)
 386 {
 387     return _MAV_RETURN_uint16_t(msg,  26);
 388 }
 389
 390 /**
 391  * @brief Decode a global_position_int message into a struct
 392  *
 393  * @param msg The message to decode
 394  * @param global_position_int C-struct to decode the message contents into
 395  */
 396 static inline void mavlink_msg_global_position_int_decode(const mavlink_message_t* msg, mavlink_global_position_int_t* global_position_int)
 397 {
 398 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 399     global_position_int->time_boot_ms = mavlink_msg_global_position_int_get_time_boot_ms(msg);
 400     global_position_int->lat = mavlink_msg_global_position_int_get_lat(msg);
 401     global_position_int->lon = mavlink_msg_global_position_int_get_lon(msg);
 402     global_position_int->alt = mavlink_msg_global_position_int_get_alt(msg);
 403     global_position_int->relative_alt = mavlink_msg_global_position_int_get_relative_alt(msg);
 404     global_position_int->vx = mavlink_msg_global_position_int_get_vx(msg);
 405     global_position_int->vy = mavlink_msg_global_position_int_get_vy(msg);
 406     global_position_int->vz = mavlink_msg_global_position_int_get_vz(msg);
 407     global_position_int->hdg = mavlink_msg_global_position_int_get_hdg(msg);
 408 #else
 409         uint8_t len = msg->len < MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN? msg->len : MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN;
 410         memset(global_position_int, 0, MAVLINK_MSG_ID_GLOBAL_POSITION_INT_LEN);
 411     memcpy(global_position_int, _MAV_PAYLOAD(msg), len);
 412 #endif
 413 }