lib/main/MAVLink/common/mavlink_msg_terrain_data.h

   1 #pragma once
   2 // MESSAGE TERRAIN_DATA PACKING
   3
   4 #define MAVLINK_MSG_ID_TERRAIN_DATA 134
   5
   6 MAVPACKED(
   7 typedef struct __mavlink_terrain_data_t {
   8  int32_t lat; /*< Latitude of SW corner of first grid (degrees *10^7)*/
   9  int32_t lon; /*< Longitude of SW corner of first grid (in degrees *10^7)*/
  10  uint16_t grid_spacing; /*< Grid spacing in meters*/
  11  int16_t data[16]; /*< Terrain data in meters AMSL*/
  12  uint8_t gridbit; /*< bit within the terrain request mask*/
  13 }) mavlink_terrain_data_t;
  14
  15 #define MAVLINK_MSG_ID_TERRAIN_DATA_LEN 43
  16 #define MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN 43
  17 #define MAVLINK_MSG_ID_134_LEN 43
  18 #define MAVLINK_MSG_ID_134_MIN_LEN 43
  19
  20 #define MAVLINK_MSG_ID_TERRAIN_DATA_CRC 229
  21 #define MAVLINK_MSG_ID_134_CRC 229
  22
  23 #define MAVLINK_MSG_TERRAIN_DATA_FIELD_DATA_LEN 16
  24
  25 #if MAVLINK_COMMAND_24BIT
  26 #define MAVLINK_MESSAGE_INFO_TERRAIN_DATA { \
  27     134, \
  28     "TERRAIN_DATA", \
  29     5, \
  30     {  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_data_t, lat) }, \
  31          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_data_t, lon) }, \
  32          { "grid_spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_terrain_data_t, grid_spacing) }, \
  33          { "data", NULL, MAVLINK_TYPE_INT16_T, 16, 10, offsetof(mavlink_terrain_data_t, data) }, \
  34          { "gridbit", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_terrain_data_t, gridbit) }, \
  35          } \
  36 }
  37 #else
  38 #define MAVLINK_MESSAGE_INFO_TERRAIN_DATA { \
  39     "TERRAIN_DATA", \
  40     5, \
  41     {  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_data_t, lat) }, \
  42          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_data_t, lon) }, \
  43          { "grid_spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 8, offsetof(mavlink_terrain_data_t, grid_spacing) }, \
  44          { "data", NULL, MAVLINK_TYPE_INT16_T, 16, 10, offsetof(mavlink_terrain_data_t, data) }, \
  45          { "gridbit", NULL, MAVLINK_TYPE_UINT8_T, 0, 42, offsetof(mavlink_terrain_data_t, gridbit) }, \
  46          } \
  47 }
  48 #endif
  49
  50 /**
  51  * @brief Pack a terrain_data message
  52  * @param system_id ID of this system
  53  * @param component_id ID of this component (e.g. 200 for IMU)
  54  * @param msg The MAVLink message to compress the data into
  55  *
  56  * @param lat Latitude of SW corner of first grid (degrees *10^7)
  57  * @param lon Longitude of SW corner of first grid (in degrees *10^7)
  58  * @param grid_spacing Grid spacing in meters
  59  * @param gridbit bit within the terrain request mask
  60  * @param data Terrain data in meters AMSL
  61  * @return length of the message in bytes (excluding serial stream start sign)
  62  */
  63 static inline uint16_t mavlink_msg_terrain_data_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  64                                int32_t lat, int32_t lon, uint16_t grid_spacing, uint8_t gridbit, const int16_t *data)
  65 {
  66 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  67     char buf[MAVLINK_MSG_ID_TERRAIN_DATA_LEN];
  68     _mav_put_int32_t(buf, 0, lat);
  69     _mav_put_int32_t(buf, 4, lon);
  70     _mav_put_uint16_t(buf, 8, grid_spacing);
  71     _mav_put_uint8_t(buf, 42, gridbit);
  72     _mav_put_int16_t_array(buf, 10, data, 16);
  73         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
  74 #else
  75     mavlink_terrain_data_t packet;
  76     packet.lat = lat;
  77     packet.lon = lon;
  78     packet.grid_spacing = grid_spacing;
  79     packet.gridbit = gridbit;
  80     mav_array_memcpy(packet.data, data, sizeof(int16_t)*16);
  81         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
  82 #endif
  83
  84     msg->msgid = MAVLINK_MSG_ID_TERRAIN_DATA;
  85     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
  86 }
  87
  88 /**
  89  * @brief Pack a terrain_data message on a channel
  90  * @param system_id ID of this system
  91  * @param component_id ID of this component (e.g. 200 for IMU)
  92  * @param chan The MAVLink channel this message will be sent over
  93  * @param msg The MAVLink message to compress the data into
  94  * @param lat Latitude of SW corner of first grid (degrees *10^7)
  95  * @param lon Longitude of SW corner of first grid (in degrees *10^7)
  96  * @param grid_spacing Grid spacing in meters
  97  * @param gridbit bit within the terrain request mask
  98  * @param data Terrain data in meters AMSL
  99  * @return length of the message in bytes (excluding serial stream start sign)
 100  */
 101 static inline uint16_t mavlink_msg_terrain_data_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 102                                mavlink_message_t* msg,
 103                                    int32_t lat,int32_t lon,uint16_t grid_spacing,uint8_t gridbit,const int16_t *data)
 104 {
 105 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 106     char buf[MAVLINK_MSG_ID_TERRAIN_DATA_LEN];
 107     _mav_put_int32_t(buf, 0, lat);
 108     _mav_put_int32_t(buf, 4, lon);
 109     _mav_put_uint16_t(buf, 8, grid_spacing);
 110     _mav_put_uint8_t(buf, 42, gridbit);
 111     _mav_put_int16_t_array(buf, 10, data, 16);
 112         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 113 #else
 114     mavlink_terrain_data_t packet;
 115     packet.lat = lat;
 116     packet.lon = lon;
 117     packet.grid_spacing = grid_spacing;
 118     packet.gridbit = gridbit;
 119     mav_array_memcpy(packet.data, data, sizeof(int16_t)*16);
 120         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 121 #endif
 122
 123     msg->msgid = MAVLINK_MSG_ID_TERRAIN_DATA;
 124     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 125 }
 126
 127 /**
 128  * @brief Encode a terrain_data struct
 129  *
 130  * @param system_id ID of this system
 131  * @param component_id ID of this component (e.g. 200 for IMU)
 132  * @param msg The MAVLink message to compress the data into
 133  * @param terrain_data C-struct to read the message contents from
 134  */
 135 static inline uint16_t mavlink_msg_terrain_data_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_terrain_data_t* terrain_data)
 136 {
 137     return mavlink_msg_terrain_data_pack(system_id, component_id, msg, terrain_data->lat, terrain_data->lon, terrain_data->grid_spacing, terrain_data->gridbit, terrain_data->data);
 138 }
 139
 140 /**
 141  * @brief Encode a terrain_data struct on a channel
 142  *
 143  * @param system_id ID of this system
 144  * @param component_id ID of this component (e.g. 200 for IMU)
 145  * @param chan The MAVLink channel this message will be sent over
 146  * @param msg The MAVLink message to compress the data into
 147  * @param terrain_data C-struct to read the message contents from
 148  */
 149 static inline uint16_t mavlink_msg_terrain_data_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_terrain_data_t* terrain_data)
 150 {
 151     return mavlink_msg_terrain_data_pack_chan(system_id, component_id, chan, msg, terrain_data->lat, terrain_data->lon, terrain_data->grid_spacing, terrain_data->gridbit, terrain_data->data);
 152 }
 153
 154 /**
 155  * @brief Send a terrain_data message
 156  * @param chan MAVLink channel to send the message
 157  *
 158  * @param lat Latitude of SW corner of first grid (degrees *10^7)
 159  * @param lon Longitude of SW corner of first grid (in degrees *10^7)
 160  * @param grid_spacing Grid spacing in meters
 161  * @param gridbit bit within the terrain request mask
 162  * @param data Terrain data in meters AMSL
 163  */
 164 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 165
 166 static inline void mavlink_msg_terrain_data_send(mavlink_channel_t chan, int32_t lat, int32_t lon, uint16_t grid_spacing, uint8_t gridbit, const int16_t *data)
 167 {
 168 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 169     char buf[MAVLINK_MSG_ID_TERRAIN_DATA_LEN];
 170     _mav_put_int32_t(buf, 0, lat);
 171     _mav_put_int32_t(buf, 4, lon);
 172     _mav_put_uint16_t(buf, 8, grid_spacing);
 173     _mav_put_uint8_t(buf, 42, gridbit);
 174     _mav_put_int16_t_array(buf, 10, data, 16);
 175     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, buf, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 176 #else
 177     mavlink_terrain_data_t packet;
 178     packet.lat = lat;
 179     packet.lon = lon;
 180     packet.grid_spacing = grid_spacing;
 181     packet.gridbit = gridbit;
 182     mav_array_memcpy(packet.data, data, sizeof(int16_t)*16);
 183     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, (const char *)&packet, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 184 #endif
 185 }
 186
 187 /**
 188  * @brief Send a terrain_data message
 189  * @param chan MAVLink channel to send the message
 190  * @param struct The MAVLink struct to serialize
 191  */
 192 static inline void mavlink_msg_terrain_data_send_struct(mavlink_channel_t chan, const mavlink_terrain_data_t* terrain_data)
 193 {
 194 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 195     mavlink_msg_terrain_data_send(chan, terrain_data->lat, terrain_data->lon, terrain_data->grid_spacing, terrain_data->gridbit, terrain_data->data);
 196 #else
 197     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, (const char *)terrain_data, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 198 #endif
 199 }
 200
 201 #if MAVLINK_MSG_ID_TERRAIN_DATA_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 202 /*
 203   This varient of _send() can be used to save stack space by re-using
 204   memory from the receive buffer.  The caller provides a
 205   mavlink_message_t which is the size of a full mavlink message. This
 206   is usually the receive buffer for the channel, and allows a reply to an
 207   incoming message with minimum stack space usage.
 208  */
 209 static inline void mavlink_msg_terrain_data_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int32_t lat, int32_t lon, uint16_t grid_spacing, uint8_t gridbit, const int16_t *data)
 210 {
 211 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 212     char *buf = (char *)msgbuf;
 213     _mav_put_int32_t(buf, 0, lat);
 214     _mav_put_int32_t(buf, 4, lon);
 215     _mav_put_uint16_t(buf, 8, grid_spacing);
 216     _mav_put_uint8_t(buf, 42, gridbit);
 217     _mav_put_int16_t_array(buf, 10, data, 16);
 218     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, buf, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 219 #else
 220     mavlink_terrain_data_t *packet = (mavlink_terrain_data_t *)msgbuf;
 221     packet->lat = lat;
 222     packet->lon = lon;
 223     packet->grid_spacing = grid_spacing;
 224     packet->gridbit = gridbit;
 225     mav_array_memcpy(packet->data, data, sizeof(int16_t)*16);
 226     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_DATA, (const char *)packet, MAVLINK_MSG_ID_TERRAIN_DATA_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_LEN, MAVLINK_MSG_ID_TERRAIN_DATA_CRC);
 227 #endif
 228 }
 229 #endif
 230
 231 #endif
 232
 233 // MESSAGE TERRAIN_DATA UNPACKING
 234
 235
 236 /**
 237  * @brief Get field lat from terrain_data message
 238  *
 239  * @return Latitude of SW corner of first grid (degrees *10^7)
 240  */
 241 static inline int32_t mavlink_msg_terrain_data_get_lat(const mavlink_message_t* msg)
 242 {
 243     return _MAV_RETURN_int32_t(msg,  0);
 244 }
 245
 246 /**
 247  * @brief Get field lon from terrain_data message
 248  *
 249  * @return Longitude of SW corner of first grid (in degrees *10^7)
 250  */
 251 static inline int32_t mavlink_msg_terrain_data_get_lon(const mavlink_message_t* msg)
 252 {
 253     return _MAV_RETURN_int32_t(msg,  4);
 254 }
 255
 256 /**
 257  * @brief Get field grid_spacing from terrain_data message
 258  *
 259  * @return Grid spacing in meters
 260  */
 261 static inline uint16_t mavlink_msg_terrain_data_get_grid_spacing(const mavlink_message_t* msg)
 262 {
 263     return _MAV_RETURN_uint16_t(msg,  8);
 264 }
 265
 266 /**
 267  * @brief Get field gridbit from terrain_data message
 268  *
 269  * @return bit within the terrain request mask
 270  */
 271 static inline uint8_t mavlink_msg_terrain_data_get_gridbit(const mavlink_message_t* msg)
 272 {
 273     return _MAV_RETURN_uint8_t(msg,  42);
 274 }
 275
 276 /**
 277  * @brief Get field data from terrain_data message
 278  *
 279  * @return Terrain data in meters AMSL
 280  */
 281 static inline uint16_t mavlink_msg_terrain_data_get_data(const mavlink_message_t* msg, int16_t *data)
 282 {
 283     return _MAV_RETURN_int16_t_array(msg, data, 16,  10);
 284 }
 285
 286 /**
 287  * @brief Decode a terrain_data message into a struct
 288  *
 289  * @param msg The message to decode
 290  * @param terrain_data C-struct to decode the message contents into
 291  */
 292 static inline void mavlink_msg_terrain_data_decode(const mavlink_message_t* msg, mavlink_terrain_data_t* terrain_data)
 293 {
 294 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 295     terrain_data->lat = mavlink_msg_terrain_data_get_lat(msg);
 296     terrain_data->lon = mavlink_msg_terrain_data_get_lon(msg);
 297     terrain_data->grid_spacing = mavlink_msg_terrain_data_get_grid_spacing(msg);
 298     mavlink_msg_terrain_data_get_data(msg, terrain_data->data);
 299     terrain_data->gridbit = mavlink_msg_terrain_data_get_gridbit(msg);
 300 #else
 301         uint8_t len = msg->len < MAVLINK_MSG_ID_TERRAIN_DATA_LEN? msg->len : MAVLINK_MSG_ID_TERRAIN_DATA_LEN;
 302         memset(terrain_data, 0, MAVLINK_MSG_ID_TERRAIN_DATA_LEN);
 303     memcpy(terrain_data, _MAV_PAYLOAD(msg), len);
 304 #endif
 305 }