lib/main/MAVLink/common/mavlink_msg_gps2_raw.h

   1 #pragma once
   2 // MESSAGE GPS2_RAW PACKING
   3
   4 #define MAVLINK_MSG_ID_GPS2_RAW 124
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_gps2_raw_t {
   8  uint64_t time_usec; /*< Timestamp (microseconds since UNIX epoch or microseconds since system boot)*/
   9  int32_t lat; /*< Latitude (WGS84), in degrees * 1E7*/
  10  int32_t lon; /*< Longitude (WGS84), in degrees * 1E7*/
  11  int32_t alt; /*< Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)*/
  12  uint32_t dgps_age; /*< Age of DGPS info*/
  13  uint16_t eph; /*< GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX*/
  14  uint16_t epv; /*< GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX*/
  15  uint16_t vel; /*< GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX*/
  16  uint16_t cog; /*< Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/
  17  uint8_t fix_type; /*< See the GPS_FIX_TYPE enum.*/
  18  uint8_t satellites_visible; /*< Number of satellites visible. If unknown, set to 255*/
  19  uint8_t dgps_numch; /*< Number of DGPS satellites*/
  20 }) mavlink_gps2_raw_t;
  21
  22 #define MAVLINK_MSG_ID_GPS2_RAW_LEN 35
  23 #define MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN 35
  24 #define MAVLINK_MSG_ID_124_LEN 35
  25 #define MAVLINK_MSG_ID_124_MIN_LEN 35
  26
  27 #define MAVLINK_MSG_ID_GPS2_RAW_CRC 87
  28 #define MAVLINK_MSG_ID_124_CRC 87
  29
  30
  31
  32 #if MAVLINK_COMMAND_24BIT
  33 #define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
  34     124, \
  35     "GPS2_RAW", \
  36     12, \
  37     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
  38          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
  39          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
  40          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
  41          { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
  42          { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
  43          { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
  44          { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
  45          { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
  46          { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
  47          { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
  48          { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
  49          } \
  50 }
  51 #else
  52 #define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
  53     "GPS2_RAW", \
  54     12, \
  55     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
  56          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
  57          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
  58          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
  59          { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
  60          { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
  61          { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
  62          { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
  63          { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
  64          { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
  65          { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
  66          { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
  67          } \
  68 }
  69 #endif
  70
  71 /**
  72  * @brief Pack a gps2_raw message
  73  * @param system_id ID of this system
  74  * @param component_id ID of this component (e.g. 200 for IMU)
  75  * @param msg The MAVLink message to compress the data into
  76  *
  77  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
  78  * @param fix_type See the GPS_FIX_TYPE enum.
  79  * @param lat Latitude (WGS84), in degrees * 1E7
  80  * @param lon Longitude (WGS84), in degrees * 1E7
  81  * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
  82  * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
  83  * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
  84  * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
  85  * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
  86  * @param satellites_visible Number of satellites visible. If unknown, set to 255
  87  * @param dgps_numch Number of DGPS satellites
  88  * @param dgps_age Age of DGPS info
  89  * @return length of the message in bytes (excluding serial stream start sign)
  90  */
  91 static inline uint16_t mavlink_msg_gps2_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  92                                uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
  93 {
  94 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  95     char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
  96     _mav_put_uint64_t(buf, 0, time_usec);
  97     _mav_put_int32_t(buf, 8, lat);
  98     _mav_put_int32_t(buf, 12, lon);
  99     _mav_put_int32_t(buf, 16, alt);
 100     _mav_put_uint32_t(buf, 20, dgps_age);
 101     _mav_put_uint16_t(buf, 24, eph);
 102     _mav_put_uint16_t(buf, 26, epv);
 103     _mav_put_uint16_t(buf, 28, vel);
 104     _mav_put_uint16_t(buf, 30, cog);
 105     _mav_put_uint8_t(buf, 32, fix_type);
 106     _mav_put_uint8_t(buf, 33, satellites_visible);
 107     _mav_put_uint8_t(buf, 34, dgps_numch);
 108
 109         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
 110 #else
 111     mavlink_gps2_raw_t packet;
 112     packet.time_usec = time_usec;
 113     packet.lat = lat;
 114     packet.lon = lon;
 115     packet.alt = alt;
 116     packet.dgps_age = dgps_age;
 117     packet.eph = eph;
 118     packet.epv = epv;
 119     packet.vel = vel;
 120     packet.cog = cog;
 121     packet.fix_type = fix_type;
 122     packet.satellites_visible = satellites_visible;
 123     packet.dgps_numch = dgps_numch;
 124
 125         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
 126 #endif
 127
 128     msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
 129     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
 130 }
 131
 132 /**
 133  * @brief Pack a gps2_raw message on a channel
 134  * @param system_id ID of this system
 135  * @param component_id ID of this component (e.g. 200 for IMU)
 136  * @param chan The MAVLink channel this message will be sent over
 137  * @param msg The MAVLink message to compress the data into
 138  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 139  * @param fix_type See the GPS_FIX_TYPE enum.
 140  * @param lat Latitude (WGS84), in degrees * 1E7
 141  * @param lon Longitude (WGS84), in degrees * 1E7
 142  * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
 143  * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
 144  * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
 145  * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
 146  * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 147  * @param satellites_visible Number of satellites visible. If unknown, set to 255
 148  * @param dgps_numch Number of DGPS satellites
 149  * @param dgps_age Age of DGPS info
 150  * @return length of the message in bytes (excluding serial stream start sign)
 151  */
 152 static inline uint16_t mavlink_msg_gps2_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 153                                mavlink_message_t* msg,
 154                                    uint64_t time_usec,uint8_t fix_type,int32_t lat,int32_t lon,int32_t alt,uint16_t eph,uint16_t epv,uint16_t vel,uint16_t cog,uint8_t satellites_visible,uint8_t dgps_numch,uint32_t dgps_age)
 155 {
 156 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 157     char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
 158     _mav_put_uint64_t(buf, 0, time_usec);
 159     _mav_put_int32_t(buf, 8, lat);
 160     _mav_put_int32_t(buf, 12, lon);
 161     _mav_put_int32_t(buf, 16, alt);
 162     _mav_put_uint32_t(buf, 20, dgps_age);
 163     _mav_put_uint16_t(buf, 24, eph);
 164     _mav_put_uint16_t(buf, 26, epv);
 165     _mav_put_uint16_t(buf, 28, vel);
 166     _mav_put_uint16_t(buf, 30, cog);
 167     _mav_put_uint8_t(buf, 32, fix_type);
 168     _mav_put_uint8_t(buf, 33, satellites_visible);
 169     _mav_put_uint8_t(buf, 34, dgps_numch);
 170
 171         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
 172 #else
 173     mavlink_gps2_raw_t packet;
 174     packet.time_usec = time_usec;
 175     packet.lat = lat;
 176     packet.lon = lon;
 177     packet.alt = alt;
 178     packet.dgps_age = dgps_age;
 179     packet.eph = eph;
 180     packet.epv = epv;
 181     packet.vel = vel;
 182     packet.cog = cog;
 183     packet.fix_type = fix_type;
 184     packet.satellites_visible = satellites_visible;
 185     packet.dgps_numch = dgps_numch;
 186
 187         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
 188 #endif
 189
 190     msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
 191     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
 192 }
 193
 194 /**
 195  * @brief Encode a gps2_raw struct
 196  *
 197  * @param system_id ID of this system
 198  * @param component_id ID of this component (e.g. 200 for IMU)
 199  * @param msg The MAVLink message to compress the data into
 200  * @param gps2_raw C-struct to read the message contents from
 201  */
 202 static inline uint16_t mavlink_msg_gps2_raw_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
 203 {
 204     return mavlink_msg_gps2_raw_pack(system_id, component_id, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
 205 }
 206
 207 /**
 208  * @brief Encode a gps2_raw struct on a channel
 209  *
 210  * @param system_id ID of this system
 211  * @param component_id ID of this component (e.g. 200 for IMU)
 212  * @param chan The MAVLink channel this message will be sent over
 213  * @param msg The MAVLink message to compress the data into
 214  * @param gps2_raw C-struct to read the message contents from
 215  */
 216 static inline uint16_t mavlink_msg_gps2_raw_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps2_raw_t* gps2_raw)
 217 {
 218     return mavlink_msg_gps2_raw_pack_chan(system_id, component_id, chan, msg, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
 219 }
 220
 221 /**
 222  * @brief Send a gps2_raw message
 223  * @param chan MAVLink channel to send the message
 224  *
 225  * @param time_usec Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 226  * @param fix_type See the GPS_FIX_TYPE enum.
 227  * @param lat Latitude (WGS84), in degrees * 1E7
 228  * @param lon Longitude (WGS84), in degrees * 1E7
 229  * @param alt Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
 230  * @param eph GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
 231  * @param epv GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
 232  * @param vel GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
 233  * @param cog Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 234  * @param satellites_visible Number of satellites visible. If unknown, set to 255
 235  * @param dgps_numch Number of DGPS satellites
 236  * @param dgps_age Age of DGPS info
 237  */
 238 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 239
 240 static inline void mavlink_msg_gps2_raw_send(mavlink_channel_t chan, uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
 241 {
 242 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 243     char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
 244     _mav_put_uint64_t(buf, 0, time_usec);
 245     _mav_put_int32_t(buf, 8, lat);
 246     _mav_put_int32_t(buf, 12, lon);
 247     _mav_put_int32_t(buf, 16, alt);
 248     _mav_put_uint32_t(buf, 20, dgps_age);
 249     _mav_put_uint16_t(buf, 24, eph);
 250     _mav_put_uint16_t(buf, 26, epv);
 251     _mav_put_uint16_t(buf, 28, vel);
 252     _mav_put_uint16_t(buf, 30, cog);
 253     _mav_put_uint8_t(buf, 32, fix_type);
 254     _mav_put_uint8_t(buf, 33, satellites_visible);
 255     _mav_put_uint8_t(buf, 34, dgps_numch);
 256
 257     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
 258 #else
 259     mavlink_gps2_raw_t packet;
 260     packet.time_usec = time_usec;
 261     packet.lat = lat;
 262     packet.lon = lon;
 263     packet.alt = alt;
 264     packet.dgps_age = dgps_age;
 265     packet.eph = eph;
 266     packet.epv = epv;
 267     packet.vel = vel;
 268     packet.cog = cog;
 269     packet.fix_type = fix_type;
 270     packet.satellites_visible = satellites_visible;
 271     packet.dgps_numch = dgps_numch;
 272
 273     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)&packet, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
 274 #endif
 275 }
 276
 277 /**
 278  * @brief Send a gps2_raw message
 279  * @param chan MAVLink channel to send the message
 280  * @param struct The MAVLink struct to serialize
 281  */
 282 static inline void mavlink_msg_gps2_raw_send_struct(mavlink_channel_t chan, const mavlink_gps2_raw_t* gps2_raw)
 283 {
 284 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 285     mavlink_msg_gps2_raw_send(chan, gps2_raw->time_usec, gps2_raw->fix_type, gps2_raw->lat, gps2_raw->lon, gps2_raw->alt, gps2_raw->eph, gps2_raw->epv, gps2_raw->vel, gps2_raw->cog, gps2_raw->satellites_visible, gps2_raw->dgps_numch, gps2_raw->dgps_age);
 286 #else
 287     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)gps2_raw, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
 288 #endif
 289 }
 290
 291 #if MAVLINK_MSG_ID_GPS2_RAW_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 292 /*
 293   This varient of _send() can be used to save stack space by re-using
 294   memory from the receive buffer.  The caller provides a
 295   mavlink_message_t which is the size of a full mavlink message. This
 296   is usually the receive buffer for the channel, and allows a reply to an
 297   incoming message with minimum stack space usage.
 298  */
 299 static inline void mavlink_msg_gps2_raw_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint64_t time_usec, uint8_t fix_type, int32_t lat, int32_t lon, int32_t alt, uint16_t eph, uint16_t epv, uint16_t vel, uint16_t cog, uint8_t satellites_visible, uint8_t dgps_numch, uint32_t dgps_age)
 300 {
 301 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 302     char *buf = (char *)msgbuf;
 303     _mav_put_uint64_t(buf, 0, time_usec);
 304     _mav_put_int32_t(buf, 8, lat);
 305     _mav_put_int32_t(buf, 12, lon);
 306     _mav_put_int32_t(buf, 16, alt);
 307     _mav_put_uint32_t(buf, 20, dgps_age);
 308     _mav_put_uint16_t(buf, 24, eph);
 309     _mav_put_uint16_t(buf, 26, epv);
 310     _mav_put_uint16_t(buf, 28, vel);
 311     _mav_put_uint16_t(buf, 30, cog);
 312     _mav_put_uint8_t(buf, 32, fix_type);
 313     _mav_put_uint8_t(buf, 33, satellites_visible);
 314     _mav_put_uint8_t(buf, 34, dgps_numch);
 315
 316     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, buf, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
 317 #else
 318     mavlink_gps2_raw_t *packet = (mavlink_gps2_raw_t *)msgbuf;
 319     packet->time_usec = time_usec;
 320     packet->lat = lat;
 321     packet->lon = lon;
 322     packet->alt = alt;
 323     packet->dgps_age = dgps_age;
 324     packet->eph = eph;
 325     packet->epv = epv;
 326     packet->vel = vel;
 327     packet->cog = cog;
 328     packet->fix_type = fix_type;
 329     packet->satellites_visible = satellites_visible;
 330     packet->dgps_numch = dgps_numch;
 331
 332     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS2_RAW, (const char *)packet, MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN, MAVLINK_MSG_ID_GPS2_RAW_LEN, MAVLINK_MSG_ID_GPS2_RAW_CRC);
 333 #endif
 334 }
 335 #endif
 336
 337 #endif
 338
 339 // MESSAGE GPS2_RAW UNPACKING
 340
 341
 342 /**
 343  * @brief Get field time_usec from gps2_raw message
 344  *
 345  * @return Timestamp (microseconds since UNIX epoch or microseconds since system boot)
 346  */
 347 static inline uint64_t mavlink_msg_gps2_raw_get_time_usec(const mavlink_message_t* msg)
 348 {
 349     return _MAV_RETURN_uint64_t(msg,  0);
 350 }
 351
 352 /**
 353  * @brief Get field fix_type from gps2_raw message
 354  *
 355  * @return See the GPS_FIX_TYPE enum.
 356  */
 357 static inline uint8_t mavlink_msg_gps2_raw_get_fix_type(const mavlink_message_t* msg)
 358 {
 359     return _MAV_RETURN_uint8_t(msg,  32);
 360 }
 361
 362 /**
 363  * @brief Get field lat from gps2_raw message
 364  *
 365  * @return Latitude (WGS84), in degrees * 1E7
 366  */
 367 static inline int32_t mavlink_msg_gps2_raw_get_lat(const mavlink_message_t* msg)
 368 {
 369     return _MAV_RETURN_int32_t(msg,  8);
 370 }
 371
 372 /**
 373  * @brief Get field lon from gps2_raw message
 374  *
 375  * @return Longitude (WGS84), in degrees * 1E7
 376  */
 377 static inline int32_t mavlink_msg_gps2_raw_get_lon(const mavlink_message_t* msg)
 378 {
 379     return _MAV_RETURN_int32_t(msg,  12);
 380 }
 381
 382 /**
 383  * @brief Get field alt from gps2_raw message
 384  *
 385  * @return Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
 386  */
 387 static inline int32_t mavlink_msg_gps2_raw_get_alt(const mavlink_message_t* msg)
 388 {
 389     return _MAV_RETURN_int32_t(msg,  16);
 390 }
 391
 392 /**
 393  * @brief Get field eph from gps2_raw message
 394  *
 395  * @return GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
 396  */
 397 static inline uint16_t mavlink_msg_gps2_raw_get_eph(const mavlink_message_t* msg)
 398 {
 399     return _MAV_RETURN_uint16_t(msg,  24);
 400 }
 401
 402 /**
 403  * @brief Get field epv from gps2_raw message
 404  *
 405  * @return GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
 406  */
 407 static inline uint16_t mavlink_msg_gps2_raw_get_epv(const mavlink_message_t* msg)
 408 {
 409     return _MAV_RETURN_uint16_t(msg,  26);
 410 }
 411
 412 /**
 413  * @brief Get field vel from gps2_raw message
 414  *
 415  * @return GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
 416  */
 417 static inline uint16_t mavlink_msg_gps2_raw_get_vel(const mavlink_message_t* msg)
 418 {
 419     return _MAV_RETURN_uint16_t(msg,  28);
 420 }
 421
 422 /**
 423  * @brief Get field cog from gps2_raw message
 424  *
 425  * @return Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 426  */
 427 static inline uint16_t mavlink_msg_gps2_raw_get_cog(const mavlink_message_t* msg)
 428 {
 429     return _MAV_RETURN_uint16_t(msg,  30);
 430 }
 431
 432 /**
 433  * @brief Get field satellites_visible from gps2_raw message
 434  *
 435  * @return Number of satellites visible. If unknown, set to 255
 436  */
 437 static inline uint8_t mavlink_msg_gps2_raw_get_satellites_visible(const mavlink_message_t* msg)
 438 {
 439     return _MAV_RETURN_uint8_t(msg,  33);
 440 }
 441
 442 /**
 443  * @brief Get field dgps_numch from gps2_raw message
 444  *
 445  * @return Number of DGPS satellites
 446  */
 447 static inline uint8_t mavlink_msg_gps2_raw_get_dgps_numch(const mavlink_message_t* msg)
 448 {
 449     return _MAV_RETURN_uint8_t(msg,  34);
 450 }
 451
 452 /**
 453  * @brief Get field dgps_age from gps2_raw message
 454  *
 455  * @return Age of DGPS info
 456  */
 457 static inline uint32_t mavlink_msg_gps2_raw_get_dgps_age(const mavlink_message_t* msg)
 458 {
 459     return _MAV_RETURN_uint32_t(msg,  20);
 460 }
 461
 462 /**
 463  * @brief Decode a gps2_raw message into a struct
 464  *
 465  * @param msg The message to decode
 466  * @param gps2_raw C-struct to decode the message contents into
 467  */
 468 static inline void mavlink_msg_gps2_raw_decode(const mavlink_message_t* msg, mavlink_gps2_raw_t* gps2_raw)
 469 {
 470 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 471     gps2_raw->time_usec = mavlink_msg_gps2_raw_get_time_usec(msg);
 472     gps2_raw->lat = mavlink_msg_gps2_raw_get_lat(msg);
 473     gps2_raw->lon = mavlink_msg_gps2_raw_get_lon(msg);
 474     gps2_raw->alt = mavlink_msg_gps2_raw_get_alt(msg);
 475     gps2_raw->dgps_age = mavlink_msg_gps2_raw_get_dgps_age(msg);
 476     gps2_raw->eph = mavlink_msg_gps2_raw_get_eph(msg);
 477     gps2_raw->epv = mavlink_msg_gps2_raw_get_epv(msg);
 478     gps2_raw->vel = mavlink_msg_gps2_raw_get_vel(msg);
 479     gps2_raw->cog = mavlink_msg_gps2_raw_get_cog(msg);
 480     gps2_raw->fix_type = mavlink_msg_gps2_raw_get_fix_type(msg);
 481     gps2_raw->satellites_visible = mavlink_msg_gps2_raw_get_satellites_visible(msg);
 482     gps2_raw->dgps_numch = mavlink_msg_gps2_raw_get_dgps_numch(msg);
 483 #else
 484         uint8_t len = msg->len < MAVLINK_MSG_ID_GPS2_RAW_LEN? msg->len : MAVLINK_MSG_ID_GPS2_RAW_LEN;
 485         memset(gps2_raw, 0, MAVLINK_MSG_ID_GPS2_RAW_LEN);
 486     memcpy(gps2_raw, _MAV_PAYLOAD(msg), len);
 487 #endif
 488 }