lib/main/MAVLink/common/mavlink_msg_gps_global_origin.h

   1 #pragma once
   2 // MESSAGE GPS_GLOBAL_ORIGIN PACKING
   3
   4 #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN 49
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_gps_global_origin_t {
   8  int32_t latitude; /*< Latitude (WGS84), in degrees * 1E7*/
   9  int32_t longitude; /*< Longitude (WGS84), in degrees * 1E7*/
  10  int32_t altitude; /*< Altitude (AMSL), in meters * 1000 (positive for up)*/
  11 }) mavlink_gps_global_origin_t;
  12
  13 #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 12
  14 #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN 12
  15 #define MAVLINK_MSG_ID_49_LEN 12
  16 #define MAVLINK_MSG_ID_49_MIN_LEN 12
  17
  18 #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC 39
  19 #define MAVLINK_MSG_ID_49_CRC 39
  20
  21
  22
  23 #if MAVLINK_COMMAND_24BIT
  24 #define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
  25     49, \
  26     "GPS_GLOBAL_ORIGIN", \
  27     3, \
  28     {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
  29          { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
  30          { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
  31          } \
  32 }
  33 #else
  34 #define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
  35     "GPS_GLOBAL_ORIGIN", \
  36     3, \
  37     {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
  38          { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
  39          { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
  40          } \
  41 }
  42 #endif
  43
  44 /**
  45  * @brief Pack a gps_global_origin message
  46  * @param system_id ID of this system
  47  * @param component_id ID of this component (e.g. 200 for IMU)
  48  * @param msg The MAVLink message to compress the data into
  49  *
  50  * @param latitude Latitude (WGS84), in degrees * 1E7
  51  * @param longitude Longitude (WGS84), in degrees * 1E7
  52  * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
  53  * @return length of the message in bytes (excluding serial stream start sign)
  54  */
  55 static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  56                                int32_t latitude, int32_t longitude, int32_t altitude)
  57 {
  58 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  59     char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
  60     _mav_put_int32_t(buf, 0, latitude);
  61     _mav_put_int32_t(buf, 4, longitude);
  62     _mav_put_int32_t(buf, 8, altitude);
  63
  64         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
  65 #else
  66     mavlink_gps_global_origin_t packet;
  67     packet.latitude = latitude;
  68     packet.longitude = longitude;
  69     packet.altitude = altitude;
  70
  71         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
  72 #endif
  73
  74     msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
  75     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
  76 }
  77
  78 /**
  79  * @brief Pack a gps_global_origin message on a channel
  80  * @param system_id ID of this system
  81  * @param component_id ID of this component (e.g. 200 for IMU)
  82  * @param chan The MAVLink channel this message will be sent over
  83  * @param msg The MAVLink message to compress the data into
  84  * @param latitude Latitude (WGS84), in degrees * 1E7
  85  * @param longitude Longitude (WGS84), in degrees * 1E7
  86  * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
  87  * @return length of the message in bytes (excluding serial stream start sign)
  88  */
  89 static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  90                                mavlink_message_t* msg,
  91                                    int32_t latitude,int32_t longitude,int32_t altitude)
  92 {
  93 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  94     char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
  95     _mav_put_int32_t(buf, 0, latitude);
  96     _mav_put_int32_t(buf, 4, longitude);
  97     _mav_put_int32_t(buf, 8, altitude);
  98
  99         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
 100 #else
 101     mavlink_gps_global_origin_t packet;
 102     packet.latitude = latitude;
 103     packet.longitude = longitude;
 104     packet.altitude = altitude;
 105
 106         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
 107 #endif
 108
 109     msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
 110     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
 111 }
 112
 113 /**
 114  * @brief Encode a gps_global_origin struct
 115  *
 116  * @param system_id ID of this system
 117  * @param component_id ID of this component (e.g. 200 for IMU)
 118  * @param msg The MAVLink message to compress the data into
 119  * @param gps_global_origin C-struct to read the message contents from
 120  */
 121 static inline uint16_t mavlink_msg_gps_global_origin_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
 122 {
 123     return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
 124 }
 125
 126 /**
 127  * @brief Encode a gps_global_origin struct on a channel
 128  *
 129  * @param system_id ID of this system
 130  * @param component_id ID of this component (e.g. 200 for IMU)
 131  * @param chan The MAVLink channel this message will be sent over
 132  * @param msg The MAVLink message to compress the data into
 133  * @param gps_global_origin C-struct to read the message contents from
 134  */
 135 static inline uint16_t mavlink_msg_gps_global_origin_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_global_origin_t* gps_global_origin)
 136 {
 137     return mavlink_msg_gps_global_origin_pack_chan(system_id, component_id, chan, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
 138 }
 139
 140 /**
 141  * @brief Send a gps_global_origin message
 142  * @param chan MAVLink channel to send the message
 143  *
 144  * @param latitude Latitude (WGS84), in degrees * 1E7
 145  * @param longitude Longitude (WGS84), in degrees * 1E7
 146  * @param altitude Altitude (AMSL), in meters * 1000 (positive for up)
 147  */
 148 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 149
 150 static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude)
 151 {
 152 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 153     char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
 154     _mav_put_int32_t(buf, 0, latitude);
 155     _mav_put_int32_t(buf, 4, longitude);
 156     _mav_put_int32_t(buf, 8, altitude);
 157
 158     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
 159 #else
 160     mavlink_gps_global_origin_t packet;
 161     packet.latitude = latitude;
 162     packet.longitude = longitude;
 163     packet.altitude = altitude;
 164
 165     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)&packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
 166 #endif
 167 }
 168
 169 /**
 170  * @brief Send a gps_global_origin message
 171  * @param chan MAVLink channel to send the message
 172  * @param struct The MAVLink struct to serialize
 173  */
 174 static inline void mavlink_msg_gps_global_origin_send_struct(mavlink_channel_t chan, const mavlink_gps_global_origin_t* gps_global_origin)
 175 {
 176 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 177     mavlink_msg_gps_global_origin_send(chan, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude);
 178 #else
 179     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)gps_global_origin, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
 180 #endif
 181 }
 182
 183 #if MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 184 /*
 185   This varient of _send() can be used to save stack space by re-using
 186   memory from the receive buffer.  The caller provides a
 187   mavlink_message_t which is the size of a full mavlink message. This
 188   is usually the receive buffer for the channel, and allows a reply to an
 189   incoming message with minimum stack space usage.
 190  */
 191 static inline void mavlink_msg_gps_global_origin_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int32_t latitude, int32_t longitude, int32_t altitude)
 192 {
 193 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 194     char *buf = (char *)msgbuf;
 195     _mav_put_int32_t(buf, 0, latitude);
 196     _mav_put_int32_t(buf, 4, longitude);
 197     _mav_put_int32_t(buf, 8, altitude);
 198
 199     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
 200 #else
 201     mavlink_gps_global_origin_t *packet = (mavlink_gps_global_origin_t *)msgbuf;
 202     packet->latitude = latitude;
 203     packet->longitude = longitude;
 204     packet->altitude = altitude;
 205
 206     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN, (const char *)packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC);
 207 #endif
 208 }
 209 #endif
 210
 211 #endif
 212
 213 // MESSAGE GPS_GLOBAL_ORIGIN UNPACKING
 214
 215
 216 /**
 217  * @brief Get field latitude from gps_global_origin message
 218  *
 219  * @return Latitude (WGS84), in degrees * 1E7
 220  */
 221 static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg)
 222 {
 223     return _MAV_RETURN_int32_t(msg,  0);
 224 }
 225
 226 /**
 227  * @brief Get field longitude from gps_global_origin message
 228  *
 229  * @return Longitude (WGS84), in degrees * 1E7
 230  */
 231 static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg)
 232 {
 233     return _MAV_RETURN_int32_t(msg,  4);
 234 }
 235
 236 /**
 237  * @brief Get field altitude from gps_global_origin message
 238  *
 239  * @return Altitude (AMSL), in meters * 1000 (positive for up)
 240  */
 241 static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg)
 242 {
 243     return _MAV_RETURN_int32_t(msg,  8);
 244 }
 245
 246 /**
 247  * @brief Decode a gps_global_origin message into a struct
 248  *
 249  * @param msg The message to decode
 250  * @param gps_global_origin C-struct to decode the message contents into
 251  */
 252 static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_global_origin_t* gps_global_origin)
 253 {
 254 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 255     gps_global_origin->latitude = mavlink_msg_gps_global_origin_get_latitude(msg);
 256     gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg);
 257     gps_global_origin->altitude = mavlink_msg_gps_global_origin_get_altitude(msg);
 258 #else
 259         uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN? msg->len : MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN;
 260         memset(gps_global_origin, 0, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
 261     memcpy(gps_global_origin, _MAV_PAYLOAD(msg), len);
 262 #endif
 263 }