lib/main/MAVLink/common/mavlink_msg_gps_rtk.h

   1 #pragma once
   2 // MESSAGE GPS_RTK PACKING
   3
   4 #define MAVLINK_MSG_ID_GPS_RTK 127
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_gps_rtk_t {
   8  uint32_t time_last_baseline_ms; /*< Time since boot of last baseline message received in ms.*/
   9  uint32_t tow; /*< GPS Time of Week of last baseline*/
  10  int32_t baseline_a_mm; /*< Current baseline in ECEF x or NED north component in mm.*/
  11  int32_t baseline_b_mm; /*< Current baseline in ECEF y or NED east component in mm.*/
  12  int32_t baseline_c_mm; /*< Current baseline in ECEF z or NED down component in mm.*/
  13  uint32_t accuracy; /*< Current estimate of baseline accuracy.*/
  14  int32_t iar_num_hypotheses; /*< Current number of integer ambiguity hypotheses.*/
  15  uint16_t wn; /*< GPS Week Number of last baseline*/
  16  uint8_t rtk_receiver_id; /*< Identification of connected RTK receiver.*/
  17  uint8_t rtk_health; /*< GPS-specific health report for RTK data.*/
  18  uint8_t rtk_rate; /*< Rate of baseline messages being received by GPS, in HZ*/
  19  uint8_t nsats; /*< Current number of sats used for RTK calculation.*/
  20  uint8_t baseline_coords_type; /*< Coordinate system of baseline. 0 == ECEF, 1 == NED*/
  21 }) mavlink_gps_rtk_t;
  22
  23 #define MAVLINK_MSG_ID_GPS_RTK_LEN 35
  24 #define MAVLINK_MSG_ID_GPS_RTK_MIN_LEN 35
  25 #define MAVLINK_MSG_ID_127_LEN 35
  26 #define MAVLINK_MSG_ID_127_MIN_LEN 35
  27
  28 #define MAVLINK_MSG_ID_GPS_RTK_CRC 25
  29 #define MAVLINK_MSG_ID_127_CRC 25
  30
  31
  32
  33 #if MAVLINK_COMMAND_24BIT
  34 #define MAVLINK_MESSAGE_INFO_GPS_RTK { \
  35     127, \
  36     "GPS_RTK", \
  37     13, \
  38     {  { "time_last_baseline_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gps_rtk_t, time_last_baseline_ms) }, \
  39          { "tow", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gps_rtk_t, tow) }, \
  40          { "baseline_a_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_rtk_t, baseline_a_mm) }, \
  41          { "baseline_b_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_rtk_t, baseline_b_mm) }, \
  42          { "baseline_c_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_rtk_t, baseline_c_mm) }, \
  43          { "accuracy", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps_rtk_t, accuracy) }, \
  44          { "iar_num_hypotheses", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_gps_rtk_t, iar_num_hypotheses) }, \
  45          { "wn", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps_rtk_t, wn) }, \
  46          { "rtk_receiver_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_gps_rtk_t, rtk_receiver_id) }, \
  47          { "rtk_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_gps_rtk_t, rtk_health) }, \
  48          { "rtk_rate", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps_rtk_t, rtk_rate) }, \
  49          { "nsats", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps_rtk_t, nsats) }, \
  50          { "baseline_coords_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps_rtk_t, baseline_coords_type) }, \
  51          } \
  52 }
  53 #else
  54 #define MAVLINK_MESSAGE_INFO_GPS_RTK { \
  55     "GPS_RTK", \
  56     13, \
  57     {  { "time_last_baseline_ms", NULL, MAVLINK_TYPE_UINT32_T, 0, 0, offsetof(mavlink_gps_rtk_t, time_last_baseline_ms) }, \
  58          { "tow", NULL, MAVLINK_TYPE_UINT32_T, 0, 4, offsetof(mavlink_gps_rtk_t, tow) }, \
  59          { "baseline_a_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_rtk_t, baseline_a_mm) }, \
  60          { "baseline_b_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps_rtk_t, baseline_b_mm) }, \
  61          { "baseline_c_mm", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps_rtk_t, baseline_c_mm) }, \
  62          { "accuracy", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps_rtk_t, accuracy) }, \
  63          { "iar_num_hypotheses", NULL, MAVLINK_TYPE_INT32_T, 0, 24, offsetof(mavlink_gps_rtk_t, iar_num_hypotheses) }, \
  64          { "wn", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps_rtk_t, wn) }, \
  65          { "rtk_receiver_id", NULL, MAVLINK_TYPE_UINT8_T, 0, 30, offsetof(mavlink_gps_rtk_t, rtk_receiver_id) }, \
  66          { "rtk_health", NULL, MAVLINK_TYPE_UINT8_T, 0, 31, offsetof(mavlink_gps_rtk_t, rtk_health) }, \
  67          { "rtk_rate", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps_rtk_t, rtk_rate) }, \
  68          { "nsats", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps_rtk_t, nsats) }, \
  69          { "baseline_coords_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps_rtk_t, baseline_coords_type) }, \
  70          } \
  71 }
  72 #endif
  73
  74 /**
  75  * @brief Pack a gps_rtk message
  76  * @param system_id ID of this system
  77  * @param component_id ID of this component (e.g. 200 for IMU)
  78  * @param msg The MAVLink message to compress the data into
  79  *
  80  * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
  81  * @param rtk_receiver_id Identification of connected RTK receiver.
  82  * @param wn GPS Week Number of last baseline
  83  * @param tow GPS Time of Week of last baseline
  84  * @param rtk_health GPS-specific health report for RTK data.
  85  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
  86  * @param nsats Current number of sats used for RTK calculation.
  87  * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
  88  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
  89  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
  90  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
  91  * @param accuracy Current estimate of baseline accuracy.
  92  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
  93  * @return length of the message in bytes (excluding serial stream start sign)
  94  */
  95 static inline uint16_t mavlink_msg_gps_rtk_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  96                                uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses)
  97 {
  98 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  99     char buf[MAVLINK_MSG_ID_GPS_RTK_LEN];
 100     _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
 101     _mav_put_uint32_t(buf, 4, tow);
 102     _mav_put_int32_t(buf, 8, baseline_a_mm);
 103     _mav_put_int32_t(buf, 12, baseline_b_mm);
 104     _mav_put_int32_t(buf, 16, baseline_c_mm);
 105     _mav_put_uint32_t(buf, 20, accuracy);
 106     _mav_put_int32_t(buf, 24, iar_num_hypotheses);
 107     _mav_put_uint16_t(buf, 28, wn);
 108     _mav_put_uint8_t(buf, 30, rtk_receiver_id);
 109     _mav_put_uint8_t(buf, 31, rtk_health);
 110     _mav_put_uint8_t(buf, 32, rtk_rate);
 111     _mav_put_uint8_t(buf, 33, nsats);
 112     _mav_put_uint8_t(buf, 34, baseline_coords_type);
 113
 114         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RTK_LEN);
 115 #else
 116     mavlink_gps_rtk_t packet;
 117     packet.time_last_baseline_ms = time_last_baseline_ms;
 118     packet.tow = tow;
 119     packet.baseline_a_mm = baseline_a_mm;
 120     packet.baseline_b_mm = baseline_b_mm;
 121     packet.baseline_c_mm = baseline_c_mm;
 122     packet.accuracy = accuracy;
 123     packet.iar_num_hypotheses = iar_num_hypotheses;
 124     packet.wn = wn;
 125     packet.rtk_receiver_id = rtk_receiver_id;
 126     packet.rtk_health = rtk_health;
 127     packet.rtk_rate = rtk_rate;
 128     packet.nsats = nsats;
 129     packet.baseline_coords_type = baseline_coords_type;
 130
 131         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RTK_LEN);
 132 #endif
 133
 134     msg->msgid = MAVLINK_MSG_ID_GPS_RTK;
 135     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 136 }
 137
 138 /**
 139  * @brief Pack a gps_rtk message on a channel
 140  * @param system_id ID of this system
 141  * @param component_id ID of this component (e.g. 200 for IMU)
 142  * @param chan The MAVLink channel this message will be sent over
 143  * @param msg The MAVLink message to compress the data into
 144  * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
 145  * @param rtk_receiver_id Identification of connected RTK receiver.
 146  * @param wn GPS Week Number of last baseline
 147  * @param tow GPS Time of Week of last baseline
 148  * @param rtk_health GPS-specific health report for RTK data.
 149  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
 150  * @param nsats Current number of sats used for RTK calculation.
 151  * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
 152  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
 153  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
 154  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
 155  * @param accuracy Current estimate of baseline accuracy.
 156  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
 157  * @return length of the message in bytes (excluding serial stream start sign)
 158  */
 159 static inline uint16_t mavlink_msg_gps_rtk_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 160                                mavlink_message_t* msg,
 161                                    uint32_t time_last_baseline_ms,uint8_t rtk_receiver_id,uint16_t wn,uint32_t tow,uint8_t rtk_health,uint8_t rtk_rate,uint8_t nsats,uint8_t baseline_coords_type,int32_t baseline_a_mm,int32_t baseline_b_mm,int32_t baseline_c_mm,uint32_t accuracy,int32_t iar_num_hypotheses)
 162 {
 163 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 164     char buf[MAVLINK_MSG_ID_GPS_RTK_LEN];
 165     _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
 166     _mav_put_uint32_t(buf, 4, tow);
 167     _mav_put_int32_t(buf, 8, baseline_a_mm);
 168     _mav_put_int32_t(buf, 12, baseline_b_mm);
 169     _mav_put_int32_t(buf, 16, baseline_c_mm);
 170     _mav_put_uint32_t(buf, 20, accuracy);
 171     _mav_put_int32_t(buf, 24, iar_num_hypotheses);
 172     _mav_put_uint16_t(buf, 28, wn);
 173     _mav_put_uint8_t(buf, 30, rtk_receiver_id);
 174     _mav_put_uint8_t(buf, 31, rtk_health);
 175     _mav_put_uint8_t(buf, 32, rtk_rate);
 176     _mav_put_uint8_t(buf, 33, nsats);
 177     _mav_put_uint8_t(buf, 34, baseline_coords_type);
 178
 179         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_RTK_LEN);
 180 #else
 181     mavlink_gps_rtk_t packet;
 182     packet.time_last_baseline_ms = time_last_baseline_ms;
 183     packet.tow = tow;
 184     packet.baseline_a_mm = baseline_a_mm;
 185     packet.baseline_b_mm = baseline_b_mm;
 186     packet.baseline_c_mm = baseline_c_mm;
 187     packet.accuracy = accuracy;
 188     packet.iar_num_hypotheses = iar_num_hypotheses;
 189     packet.wn = wn;
 190     packet.rtk_receiver_id = rtk_receiver_id;
 191     packet.rtk_health = rtk_health;
 192     packet.rtk_rate = rtk_rate;
 193     packet.nsats = nsats;
 194     packet.baseline_coords_type = baseline_coords_type;
 195
 196         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_RTK_LEN);
 197 #endif
 198
 199     msg->msgid = MAVLINK_MSG_ID_GPS_RTK;
 200     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 201 }
 202
 203 /**
 204  * @brief Encode a gps_rtk struct
 205  *
 206  * @param system_id ID of this system
 207  * @param component_id ID of this component (e.g. 200 for IMU)
 208  * @param msg The MAVLink message to compress the data into
 209  * @param gps_rtk C-struct to read the message contents from
 210  */
 211 static inline uint16_t mavlink_msg_gps_rtk_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_gps_rtk_t* gps_rtk)
 212 {
 213     return mavlink_msg_gps_rtk_pack(system_id, component_id, msg, gps_rtk->time_last_baseline_ms, gps_rtk->rtk_receiver_id, gps_rtk->wn, gps_rtk->tow, gps_rtk->rtk_health, gps_rtk->rtk_rate, gps_rtk->nsats, gps_rtk->baseline_coords_type, gps_rtk->baseline_a_mm, gps_rtk->baseline_b_mm, gps_rtk->baseline_c_mm, gps_rtk->accuracy, gps_rtk->iar_num_hypotheses);
 214 }
 215
 216 /**
 217  * @brief Encode a gps_rtk struct on a channel
 218  *
 219  * @param system_id ID of this system
 220  * @param component_id ID of this component (e.g. 200 for IMU)
 221  * @param chan The MAVLink channel this message will be sent over
 222  * @param msg The MAVLink message to compress the data into
 223  * @param gps_rtk C-struct to read the message contents from
 224  */
 225 static inline uint16_t mavlink_msg_gps_rtk_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_gps_rtk_t* gps_rtk)
 226 {
 227     return mavlink_msg_gps_rtk_pack_chan(system_id, component_id, chan, msg, gps_rtk->time_last_baseline_ms, gps_rtk->rtk_receiver_id, gps_rtk->wn, gps_rtk->tow, gps_rtk->rtk_health, gps_rtk->rtk_rate, gps_rtk->nsats, gps_rtk->baseline_coords_type, gps_rtk->baseline_a_mm, gps_rtk->baseline_b_mm, gps_rtk->baseline_c_mm, gps_rtk->accuracy, gps_rtk->iar_num_hypotheses);
 228 }
 229
 230 /**
 231  * @brief Send a gps_rtk message
 232  * @param chan MAVLink channel to send the message
 233  *
 234  * @param time_last_baseline_ms Time since boot of last baseline message received in ms.
 235  * @param rtk_receiver_id Identification of connected RTK receiver.
 236  * @param wn GPS Week Number of last baseline
 237  * @param tow GPS Time of Week of last baseline
 238  * @param rtk_health GPS-specific health report for RTK data.
 239  * @param rtk_rate Rate of baseline messages being received by GPS, in HZ
 240  * @param nsats Current number of sats used for RTK calculation.
 241  * @param baseline_coords_type Coordinate system of baseline. 0 == ECEF, 1 == NED
 242  * @param baseline_a_mm Current baseline in ECEF x or NED north component in mm.
 243  * @param baseline_b_mm Current baseline in ECEF y or NED east component in mm.
 244  * @param baseline_c_mm Current baseline in ECEF z or NED down component in mm.
 245  * @param accuracy Current estimate of baseline accuracy.
 246  * @param iar_num_hypotheses Current number of integer ambiguity hypotheses.
 247  */
 248 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 249
 250 static inline void mavlink_msg_gps_rtk_send(mavlink_channel_t chan, uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses)
 251 {
 252 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 253     char buf[MAVLINK_MSG_ID_GPS_RTK_LEN];
 254     _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
 255     _mav_put_uint32_t(buf, 4, tow);
 256     _mav_put_int32_t(buf, 8, baseline_a_mm);
 257     _mav_put_int32_t(buf, 12, baseline_b_mm);
 258     _mav_put_int32_t(buf, 16, baseline_c_mm);
 259     _mav_put_uint32_t(buf, 20, accuracy);
 260     _mav_put_int32_t(buf, 24, iar_num_hypotheses);
 261     _mav_put_uint16_t(buf, 28, wn);
 262     _mav_put_uint8_t(buf, 30, rtk_receiver_id);
 263     _mav_put_uint8_t(buf, 31, rtk_health);
 264     _mav_put_uint8_t(buf, 32, rtk_rate);
 265     _mav_put_uint8_t(buf, 33, nsats);
 266     _mav_put_uint8_t(buf, 34, baseline_coords_type);
 267
 268     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, buf, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 269 #else
 270     mavlink_gps_rtk_t packet;
 271     packet.time_last_baseline_ms = time_last_baseline_ms;
 272     packet.tow = tow;
 273     packet.baseline_a_mm = baseline_a_mm;
 274     packet.baseline_b_mm = baseline_b_mm;
 275     packet.baseline_c_mm = baseline_c_mm;
 276     packet.accuracy = accuracy;
 277     packet.iar_num_hypotheses = iar_num_hypotheses;
 278     packet.wn = wn;
 279     packet.rtk_receiver_id = rtk_receiver_id;
 280     packet.rtk_health = rtk_health;
 281     packet.rtk_rate = rtk_rate;
 282     packet.nsats = nsats;
 283     packet.baseline_coords_type = baseline_coords_type;
 284
 285     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, (const char *)&packet, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 286 #endif
 287 }
 288
 289 /**
 290  * @brief Send a gps_rtk message
 291  * @param chan MAVLink channel to send the message
 292  * @param struct The MAVLink struct to serialize
 293  */
 294 static inline void mavlink_msg_gps_rtk_send_struct(mavlink_channel_t chan, const mavlink_gps_rtk_t* gps_rtk)
 295 {
 296 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 297     mavlink_msg_gps_rtk_send(chan, gps_rtk->time_last_baseline_ms, gps_rtk->rtk_receiver_id, gps_rtk->wn, gps_rtk->tow, gps_rtk->rtk_health, gps_rtk->rtk_rate, gps_rtk->nsats, gps_rtk->baseline_coords_type, gps_rtk->baseline_a_mm, gps_rtk->baseline_b_mm, gps_rtk->baseline_c_mm, gps_rtk->accuracy, gps_rtk->iar_num_hypotheses);
 298 #else
 299     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, (const char *)gps_rtk, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 300 #endif
 301 }
 302
 303 #if MAVLINK_MSG_ID_GPS_RTK_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 304 /*
 305   This varient of _send() can be used to save stack space by re-using
 306   memory from the receive buffer.  The caller provides a
 307   mavlink_message_t which is the size of a full mavlink message. This
 308   is usually the receive buffer for the channel, and allows a reply to an
 309   incoming message with minimum stack space usage.
 310  */
 311 static inline void mavlink_msg_gps_rtk_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  uint32_t time_last_baseline_ms, uint8_t rtk_receiver_id, uint16_t wn, uint32_t tow, uint8_t rtk_health, uint8_t rtk_rate, uint8_t nsats, uint8_t baseline_coords_type, int32_t baseline_a_mm, int32_t baseline_b_mm, int32_t baseline_c_mm, uint32_t accuracy, int32_t iar_num_hypotheses)
 312 {
 313 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 314     char *buf = (char *)msgbuf;
 315     _mav_put_uint32_t(buf, 0, time_last_baseline_ms);
 316     _mav_put_uint32_t(buf, 4, tow);
 317     _mav_put_int32_t(buf, 8, baseline_a_mm);
 318     _mav_put_int32_t(buf, 12, baseline_b_mm);
 319     _mav_put_int32_t(buf, 16, baseline_c_mm);
 320     _mav_put_uint32_t(buf, 20, accuracy);
 321     _mav_put_int32_t(buf, 24, iar_num_hypotheses);
 322     _mav_put_uint16_t(buf, 28, wn);
 323     _mav_put_uint8_t(buf, 30, rtk_receiver_id);
 324     _mav_put_uint8_t(buf, 31, rtk_health);
 325     _mav_put_uint8_t(buf, 32, rtk_rate);
 326     _mav_put_uint8_t(buf, 33, nsats);
 327     _mav_put_uint8_t(buf, 34, baseline_coords_type);
 328
 329     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, buf, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 330 #else
 331     mavlink_gps_rtk_t *packet = (mavlink_gps_rtk_t *)msgbuf;
 332     packet->time_last_baseline_ms = time_last_baseline_ms;
 333     packet->tow = tow;
 334     packet->baseline_a_mm = baseline_a_mm;
 335     packet->baseline_b_mm = baseline_b_mm;
 336     packet->baseline_c_mm = baseline_c_mm;
 337     packet->accuracy = accuracy;
 338     packet->iar_num_hypotheses = iar_num_hypotheses;
 339     packet->wn = wn;
 340     packet->rtk_receiver_id = rtk_receiver_id;
 341     packet->rtk_health = rtk_health;
 342     packet->rtk_rate = rtk_rate;
 343     packet->nsats = nsats;
 344     packet->baseline_coords_type = baseline_coords_type;
 345
 346     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_GPS_RTK, (const char *)packet, MAVLINK_MSG_ID_GPS_RTK_MIN_LEN, MAVLINK_MSG_ID_GPS_RTK_LEN, MAVLINK_MSG_ID_GPS_RTK_CRC);
 347 #endif
 348 }
 349 #endif
 350
 351 #endif
 352
 353 // MESSAGE GPS_RTK UNPACKING
 354
 355
 356 /**
 357  * @brief Get field time_last_baseline_ms from gps_rtk message
 358  *
 359  * @return Time since boot of last baseline message received in ms.
 360  */
 361 static inline uint32_t mavlink_msg_gps_rtk_get_time_last_baseline_ms(const mavlink_message_t* msg)
 362 {
 363     return _MAV_RETURN_uint32_t(msg,  0);
 364 }
 365
 366 /**
 367  * @brief Get field rtk_receiver_id from gps_rtk message
 368  *
 369  * @return Identification of connected RTK receiver.
 370  */
 371 static inline uint8_t mavlink_msg_gps_rtk_get_rtk_receiver_id(const mavlink_message_t* msg)
 372 {
 373     return _MAV_RETURN_uint8_t(msg,  30);
 374 }
 375
 376 /**
 377  * @brief Get field wn from gps_rtk message
 378  *
 379  * @return GPS Week Number of last baseline
 380  */
 381 static inline uint16_t mavlink_msg_gps_rtk_get_wn(const mavlink_message_t* msg)
 382 {
 383     return _MAV_RETURN_uint16_t(msg,  28);
 384 }
 385
 386 /**
 387  * @brief Get field tow from gps_rtk message
 388  *
 389  * @return GPS Time of Week of last baseline
 390  */
 391 static inline uint32_t mavlink_msg_gps_rtk_get_tow(const mavlink_message_t* msg)
 392 {
 393     return _MAV_RETURN_uint32_t(msg,  4);
 394 }
 395
 396 /**
 397  * @brief Get field rtk_health from gps_rtk message
 398  *
 399  * @return GPS-specific health report for RTK data.
 400  */
 401 static inline uint8_t mavlink_msg_gps_rtk_get_rtk_health(const mavlink_message_t* msg)
 402 {
 403     return _MAV_RETURN_uint8_t(msg,  31);
 404 }
 405
 406 /**
 407  * @brief Get field rtk_rate from gps_rtk message
 408  *
 409  * @return Rate of baseline messages being received by GPS, in HZ
 410  */
 411 static inline uint8_t mavlink_msg_gps_rtk_get_rtk_rate(const mavlink_message_t* msg)
 412 {
 413     return _MAV_RETURN_uint8_t(msg,  32);
 414 }
 415
 416 /**
 417  * @brief Get field nsats from gps_rtk message
 418  *
 419  * @return Current number of sats used for RTK calculation.
 420  */
 421 static inline uint8_t mavlink_msg_gps_rtk_get_nsats(const mavlink_message_t* msg)
 422 {
 423     return _MAV_RETURN_uint8_t(msg,  33);
 424 }
 425
 426 /**
 427  * @brief Get field baseline_coords_type from gps_rtk message
 428  *
 429  * @return Coordinate system of baseline. 0 == ECEF, 1 == NED
 430  */
 431 static inline uint8_t mavlink_msg_gps_rtk_get_baseline_coords_type(const mavlink_message_t* msg)
 432 {
 433     return _MAV_RETURN_uint8_t(msg,  34);
 434 }
 435
 436 /**
 437  * @brief Get field baseline_a_mm from gps_rtk message
 438  *
 439  * @return Current baseline in ECEF x or NED north component in mm.
 440  */
 441 static inline int32_t mavlink_msg_gps_rtk_get_baseline_a_mm(const mavlink_message_t* msg)
 442 {
 443     return _MAV_RETURN_int32_t(msg,  8);
 444 }
 445
 446 /**
 447  * @brief Get field baseline_b_mm from gps_rtk message
 448  *
 449  * @return Current baseline in ECEF y or NED east component in mm.
 450  */
 451 static inline int32_t mavlink_msg_gps_rtk_get_baseline_b_mm(const mavlink_message_t* msg)
 452 {
 453     return _MAV_RETURN_int32_t(msg,  12);
 454 }
 455
 456 /**
 457  * @brief Get field baseline_c_mm from gps_rtk message
 458  *
 459  * @return Current baseline in ECEF z or NED down component in mm.
 460  */
 461 static inline int32_t mavlink_msg_gps_rtk_get_baseline_c_mm(const mavlink_message_t* msg)
 462 {
 463     return _MAV_RETURN_int32_t(msg,  16);
 464 }
 465
 466 /**
 467  * @brief Get field accuracy from gps_rtk message
 468  *
 469  * @return Current estimate of baseline accuracy.
 470  */
 471 static inline uint32_t mavlink_msg_gps_rtk_get_accuracy(const mavlink_message_t* msg)
 472 {
 473     return _MAV_RETURN_uint32_t(msg,  20);
 474 }
 475
 476 /**
 477  * @brief Get field iar_num_hypotheses from gps_rtk message
 478  *
 479  * @return Current number of integer ambiguity hypotheses.
 480  */
 481 static inline int32_t mavlink_msg_gps_rtk_get_iar_num_hypotheses(const mavlink_message_t* msg)
 482 {
 483     return _MAV_RETURN_int32_t(msg,  24);
 484 }
 485
 486 /**
 487  * @brief Decode a gps_rtk message into a struct
 488  *
 489  * @param msg The message to decode
 490  * @param gps_rtk C-struct to decode the message contents into
 491  */
 492 static inline void mavlink_msg_gps_rtk_decode(const mavlink_message_t* msg, mavlink_gps_rtk_t* gps_rtk)
 493 {
 494 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 495     gps_rtk->time_last_baseline_ms = mavlink_msg_gps_rtk_get_time_last_baseline_ms(msg);
 496     gps_rtk->tow = mavlink_msg_gps_rtk_get_tow(msg);
 497     gps_rtk->baseline_a_mm = mavlink_msg_gps_rtk_get_baseline_a_mm(msg);
 498     gps_rtk->baseline_b_mm = mavlink_msg_gps_rtk_get_baseline_b_mm(msg);
 499     gps_rtk->baseline_c_mm = mavlink_msg_gps_rtk_get_baseline_c_mm(msg);
 500     gps_rtk->accuracy = mavlink_msg_gps_rtk_get_accuracy(msg);
 501     gps_rtk->iar_num_hypotheses = mavlink_msg_gps_rtk_get_iar_num_hypotheses(msg);
 502     gps_rtk->wn = mavlink_msg_gps_rtk_get_wn(msg);
 503     gps_rtk->rtk_receiver_id = mavlink_msg_gps_rtk_get_rtk_receiver_id(msg);
 504     gps_rtk->rtk_health = mavlink_msg_gps_rtk_get_rtk_health(msg);
 505     gps_rtk->rtk_rate = mavlink_msg_gps_rtk_get_rtk_rate(msg);
 506     gps_rtk->nsats = mavlink_msg_gps_rtk_get_nsats(msg);
 507     gps_rtk->baseline_coords_type = mavlink_msg_gps_rtk_get_baseline_coords_type(msg);
 508 #else
 509         uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_RTK_LEN? msg->len : MAVLINK_MSG_ID_GPS_RTK_LEN;
 510         memset(gps_rtk, 0, MAVLINK_MSG_ID_GPS_RTK_LEN);
 511     memcpy(gps_rtk, _MAV_PAYLOAD(msg), len);
 512 #endif
 513 }