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; /*< [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.*/
   9  int32_t lat; /*< [degE7] Latitude (WGS84)*/
  10  int32_t lon; /*< [degE7] Longitude (WGS84)*/
  11  int32_t alt; /*< [mm] Altitude (MSL). Positive for up.*/
  12  uint32_t dgps_age; /*< [ms] Age of DGPS info*/
  13  uint16_t eph; /*<  GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX*/
  14  uint16_t epv; /*<  GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX*/
  15  uint16_t vel; /*< [cm/s] GPS ground speed. If unknown, set to: UINT16_MAX*/
  16  uint16_t cog; /*< [cdeg] Course over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX*/
  17  uint8_t fix_type; /*<  GPS fix type.*/
  18  uint8_t satellites_visible; /*<  Number of satellites visible. If unknown, set to 255*/
  19  uint8_t dgps_numch; /*<  Number of DGPS satellites*/
  20  uint16_t yaw; /*< [cdeg] Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.*/
  21 }) mavlink_gps2_raw_t;
  22
  23 #define MAVLINK_MSG_ID_GPS2_RAW_LEN 37
  24 #define MAVLINK_MSG_ID_GPS2_RAW_MIN_LEN 35
  25 #define MAVLINK_MSG_ID_124_LEN 37
  26 #define MAVLINK_MSG_ID_124_MIN_LEN 35
  27
  28 #define MAVLINK_MSG_ID_GPS2_RAW_CRC 87
  29 #define MAVLINK_MSG_ID_124_CRC 87
  30
  31
  32
  33 #if MAVLINK_COMMAND_24BIT
  34 #define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
  35     124, \
  36     "GPS2_RAW", \
  37     13, \
  38     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
  39          { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
  40          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
  41          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
  42          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
  43          { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
  44          { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
  45          { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
  46          { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
  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          { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
  50          { "yaw", NULL, MAVLINK_TYPE_UINT16_T, 0, 35, offsetof(mavlink_gps2_raw_t, yaw) }, \
  51          } \
  52 }
  53 #else
  54 #define MAVLINK_MESSAGE_INFO_GPS2_RAW { \
  55     "GPS2_RAW", \
  56     13, \
  57     {  { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 0, offsetof(mavlink_gps2_raw_t, time_usec) }, \
  58          { "fix_type", NULL, MAVLINK_TYPE_UINT8_T, 0, 32, offsetof(mavlink_gps2_raw_t, fix_type) }, \
  59          { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps2_raw_t, lat) }, \
  60          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 12, offsetof(mavlink_gps2_raw_t, lon) }, \
  61          { "alt", NULL, MAVLINK_TYPE_INT32_T, 0, 16, offsetof(mavlink_gps2_raw_t, alt) }, \
  62          { "eph", NULL, MAVLINK_TYPE_UINT16_T, 0, 24, offsetof(mavlink_gps2_raw_t, eph) }, \
  63          { "epv", NULL, MAVLINK_TYPE_UINT16_T, 0, 26, offsetof(mavlink_gps2_raw_t, epv) }, \
  64          { "vel", NULL, MAVLINK_TYPE_UINT16_T, 0, 28, offsetof(mavlink_gps2_raw_t, vel) }, \
  65          { "cog", NULL, MAVLINK_TYPE_UINT16_T, 0, 30, offsetof(mavlink_gps2_raw_t, cog) }, \
  66          { "satellites_visible", NULL, MAVLINK_TYPE_UINT8_T, 0, 33, offsetof(mavlink_gps2_raw_t, satellites_visible) }, \
  67          { "dgps_numch", NULL, MAVLINK_TYPE_UINT8_T, 0, 34, offsetof(mavlink_gps2_raw_t, dgps_numch) }, \
  68          { "dgps_age", NULL, MAVLINK_TYPE_UINT32_T, 0, 20, offsetof(mavlink_gps2_raw_t, dgps_age) }, \
  69          { "yaw", NULL, MAVLINK_TYPE_UINT16_T, 0, 35, offsetof(mavlink_gps2_raw_t, yaw) }, \
  70          } \
  71 }
  72 #endif
  73
  74 /**
  75  * @brief Pack a gps2_raw 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_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
  81  * @param fix_type  GPS fix type.
  82  * @param lat [degE7] Latitude (WGS84)
  83  * @param lon [degE7] Longitude (WGS84)
  84  * @param alt [mm] Altitude (MSL). Positive for up.
  85  * @param eph  GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
  86  * @param epv  GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
  87  * @param vel [cm/s] GPS ground speed. If unknown, set to: UINT16_MAX
  88  * @param cog [cdeg] Course over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
  89  * @param satellites_visible  Number of satellites visible. If unknown, set to 255
  90  * @param dgps_numch  Number of DGPS satellites
  91  * @param dgps_age [ms] Age of DGPS info
  92  * @param yaw [cdeg] Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
  93  * @return length of the message in bytes (excluding serial stream start sign)
  94  */
  95 static inline uint16_t mavlink_msg_gps2_raw_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  96                                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, uint16_t yaw)
  97 {
  98 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  99     char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
 100     _mav_put_uint64_t(buf, 0, time_usec);
 101     _mav_put_int32_t(buf, 8, lat);
 102     _mav_put_int32_t(buf, 12, lon);
 103     _mav_put_int32_t(buf, 16, alt);
 104     _mav_put_uint32_t(buf, 20, dgps_age);
 105     _mav_put_uint16_t(buf, 24, eph);
 106     _mav_put_uint16_t(buf, 26, epv);
 107     _mav_put_uint16_t(buf, 28, vel);
 108     _mav_put_uint16_t(buf, 30, cog);
 109     _mav_put_uint8_t(buf, 32, fix_type);
 110     _mav_put_uint8_t(buf, 33, satellites_visible);
 111     _mav_put_uint8_t(buf, 34, dgps_numch);
 112     _mav_put_uint16_t(buf, 35, yaw);
 113
 114         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
 115 #else
 116     mavlink_gps2_raw_t packet;
 117     packet.time_usec = time_usec;
 118     packet.lat = lat;
 119     packet.lon = lon;
 120     packet.alt = alt;
 121     packet.dgps_age = dgps_age;
 122     packet.eph = eph;
 123     packet.epv = epv;
 124     packet.vel = vel;
 125     packet.cog = cog;
 126     packet.fix_type = fix_type;
 127     packet.satellites_visible = satellites_visible;
 128     packet.dgps_numch = dgps_numch;
 129     packet.yaw = yaw;
 130
 131         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
 132 #endif
 133
 134     msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
 135     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);
 136 }
 137
 138 /**
 139  * @brief Pack a gps2_raw 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_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 145  * @param fix_type  GPS fix type.
 146  * @param lat [degE7] Latitude (WGS84)
 147  * @param lon [degE7] Longitude (WGS84)
 148  * @param alt [mm] Altitude (MSL). Positive for up.
 149  * @param eph  GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
 150  * @param epv  GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
 151  * @param vel [cm/s] GPS ground speed. If unknown, set to: UINT16_MAX
 152  * @param cog [cdeg] Course over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 153  * @param satellites_visible  Number of satellites visible. If unknown, set to 255
 154  * @param dgps_numch  Number of DGPS satellites
 155  * @param dgps_age [ms] Age of DGPS info
 156  * @param yaw [cdeg] Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
 157  * @return length of the message in bytes (excluding serial stream start sign)
 158  */
 159 static inline uint16_t mavlink_msg_gps2_raw_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 160                                mavlink_message_t* msg,
 161                                    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,uint16_t yaw)
 162 {
 163 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 164     char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
 165     _mav_put_uint64_t(buf, 0, time_usec);
 166     _mav_put_int32_t(buf, 8, lat);
 167     _mav_put_int32_t(buf, 12, lon);
 168     _mav_put_int32_t(buf, 16, alt);
 169     _mav_put_uint32_t(buf, 20, dgps_age);
 170     _mav_put_uint16_t(buf, 24, eph);
 171     _mav_put_uint16_t(buf, 26, epv);
 172     _mav_put_uint16_t(buf, 28, vel);
 173     _mav_put_uint16_t(buf, 30, cog);
 174     _mav_put_uint8_t(buf, 32, fix_type);
 175     _mav_put_uint8_t(buf, 33, satellites_visible);
 176     _mav_put_uint8_t(buf, 34, dgps_numch);
 177     _mav_put_uint16_t(buf, 35, yaw);
 178
 179         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS2_RAW_LEN);
 180 #else
 181     mavlink_gps2_raw_t packet;
 182     packet.time_usec = time_usec;
 183     packet.lat = lat;
 184     packet.lon = lon;
 185     packet.alt = alt;
 186     packet.dgps_age = dgps_age;
 187     packet.eph = eph;
 188     packet.epv = epv;
 189     packet.vel = vel;
 190     packet.cog = cog;
 191     packet.fix_type = fix_type;
 192     packet.satellites_visible = satellites_visible;
 193     packet.dgps_numch = dgps_numch;
 194     packet.yaw = yaw;
 195
 196         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS2_RAW_LEN);
 197 #endif
 198
 199     msg->msgid = MAVLINK_MSG_ID_GPS2_RAW;
 200     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);
 201 }
 202
 203 /**
 204  * @brief Encode a gps2_raw 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 gps2_raw C-struct to read the message contents from
 210  */
 211 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)
 212 {
 213     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, gps2_raw->yaw);
 214 }
 215
 216 /**
 217  * @brief Encode a gps2_raw 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 gps2_raw C-struct to read the message contents from
 224  */
 225 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)
 226 {
 227     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, gps2_raw->yaw);
 228 }
 229
 230 /**
 231  * @brief Send a gps2_raw message
 232  * @param chan MAVLink channel to send the message
 233  *
 234  * @param time_usec [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 235  * @param fix_type  GPS fix type.
 236  * @param lat [degE7] Latitude (WGS84)
 237  * @param lon [degE7] Longitude (WGS84)
 238  * @param alt [mm] Altitude (MSL). Positive for up.
 239  * @param eph  GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
 240  * @param epv  GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
 241  * @param vel [cm/s] GPS ground speed. If unknown, set to: UINT16_MAX
 242  * @param cog [cdeg] Course over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 243  * @param satellites_visible  Number of satellites visible. If unknown, set to 255
 244  * @param dgps_numch  Number of DGPS satellites
 245  * @param dgps_age [ms] Age of DGPS info
 246  * @param yaw [cdeg] Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
 247  */
 248 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 249
 250 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, uint16_t yaw)
 251 {
 252 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 253     char buf[MAVLINK_MSG_ID_GPS2_RAW_LEN];
 254     _mav_put_uint64_t(buf, 0, time_usec);
 255     _mav_put_int32_t(buf, 8, lat);
 256     _mav_put_int32_t(buf, 12, lon);
 257     _mav_put_int32_t(buf, 16, alt);
 258     _mav_put_uint32_t(buf, 20, dgps_age);
 259     _mav_put_uint16_t(buf, 24, eph);
 260     _mav_put_uint16_t(buf, 26, epv);
 261     _mav_put_uint16_t(buf, 28, vel);
 262     _mav_put_uint16_t(buf, 30, cog);
 263     _mav_put_uint8_t(buf, 32, fix_type);
 264     _mav_put_uint8_t(buf, 33, satellites_visible);
 265     _mav_put_uint8_t(buf, 34, dgps_numch);
 266     _mav_put_uint16_t(buf, 35, yaw);
 267
 268     _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);
 269 #else
 270     mavlink_gps2_raw_t packet;
 271     packet.time_usec = time_usec;
 272     packet.lat = lat;
 273     packet.lon = lon;
 274     packet.alt = alt;
 275     packet.dgps_age = dgps_age;
 276     packet.eph = eph;
 277     packet.epv = epv;
 278     packet.vel = vel;
 279     packet.cog = cog;
 280     packet.fix_type = fix_type;
 281     packet.satellites_visible = satellites_visible;
 282     packet.dgps_numch = dgps_numch;
 283     packet.yaw = yaw;
 284
 285     _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);
 286 #endif
 287 }
 288
 289 /**
 290  * @brief Send a gps2_raw 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_gps2_raw_send_struct(mavlink_channel_t chan, const mavlink_gps2_raw_t* gps2_raw)
 295 {
 296 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 297     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, gps2_raw->yaw);
 298 #else
 299     _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);
 300 #endif
 301 }
 302
 303 #if MAVLINK_MSG_ID_GPS2_RAW_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_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, uint16_t yaw)
 312 {
 313 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 314     char *buf = (char *)msgbuf;
 315     _mav_put_uint64_t(buf, 0, time_usec);
 316     _mav_put_int32_t(buf, 8, lat);
 317     _mav_put_int32_t(buf, 12, lon);
 318     _mav_put_int32_t(buf, 16, alt);
 319     _mav_put_uint32_t(buf, 20, dgps_age);
 320     _mav_put_uint16_t(buf, 24, eph);
 321     _mav_put_uint16_t(buf, 26, epv);
 322     _mav_put_uint16_t(buf, 28, vel);
 323     _mav_put_uint16_t(buf, 30, cog);
 324     _mav_put_uint8_t(buf, 32, fix_type);
 325     _mav_put_uint8_t(buf, 33, satellites_visible);
 326     _mav_put_uint8_t(buf, 34, dgps_numch);
 327     _mav_put_uint16_t(buf, 35, yaw);
 328
 329     _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);
 330 #else
 331     mavlink_gps2_raw_t *packet = (mavlink_gps2_raw_t *)msgbuf;
 332     packet->time_usec = time_usec;
 333     packet->lat = lat;
 334     packet->lon = lon;
 335     packet->alt = alt;
 336     packet->dgps_age = dgps_age;
 337     packet->eph = eph;
 338     packet->epv = epv;
 339     packet->vel = vel;
 340     packet->cog = cog;
 341     packet->fix_type = fix_type;
 342     packet->satellites_visible = satellites_visible;
 343     packet->dgps_numch = dgps_numch;
 344     packet->yaw = yaw;
 345
 346     _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);
 347 #endif
 348 }
 349 #endif
 350
 351 #endif
 352
 353 // MESSAGE GPS2_RAW UNPACKING
 354
 355
 356 /**
 357  * @brief Get field time_usec from gps2_raw message
 358  *
 359  * @return [us] Timestamp (UNIX Epoch time or time since system boot). The receiving end can infer timestamp format (since 1.1.1970 or since system boot) by checking for the magnitude of the number.
 360  */
 361 static inline uint64_t mavlink_msg_gps2_raw_get_time_usec(const mavlink_message_t* msg)
 362 {
 363     return _MAV_RETURN_uint64_t(msg,  0);
 364 }
 365
 366 /**
 367  * @brief Get field fix_type from gps2_raw message
 368  *
 369  * @return  GPS fix type.
 370  */
 371 static inline uint8_t mavlink_msg_gps2_raw_get_fix_type(const mavlink_message_t* msg)
 372 {
 373     return _MAV_RETURN_uint8_t(msg,  32);
 374 }
 375
 376 /**
 377  * @brief Get field lat from gps2_raw message
 378  *
 379  * @return [degE7] Latitude (WGS84)
 380  */
 381 static inline int32_t mavlink_msg_gps2_raw_get_lat(const mavlink_message_t* msg)
 382 {
 383     return _MAV_RETURN_int32_t(msg,  8);
 384 }
 385
 386 /**
 387  * @brief Get field lon from gps2_raw message
 388  *
 389  * @return [degE7] Longitude (WGS84)
 390  */
 391 static inline int32_t mavlink_msg_gps2_raw_get_lon(const mavlink_message_t* msg)
 392 {
 393     return _MAV_RETURN_int32_t(msg,  12);
 394 }
 395
 396 /**
 397  * @brief Get field alt from gps2_raw message
 398  *
 399  * @return [mm] Altitude (MSL). Positive for up.
 400  */
 401 static inline int32_t mavlink_msg_gps2_raw_get_alt(const mavlink_message_t* msg)
 402 {
 403     return _MAV_RETURN_int32_t(msg,  16);
 404 }
 405
 406 /**
 407  * @brief Get field eph from gps2_raw message
 408  *
 409  * @return  GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
 410  */
 411 static inline uint16_t mavlink_msg_gps2_raw_get_eph(const mavlink_message_t* msg)
 412 {
 413     return _MAV_RETURN_uint16_t(msg,  24);
 414 }
 415
 416 /**
 417  * @brief Get field epv from gps2_raw message
 418  *
 419  * @return  GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
 420  */
 421 static inline uint16_t mavlink_msg_gps2_raw_get_epv(const mavlink_message_t* msg)
 422 {
 423     return _MAV_RETURN_uint16_t(msg,  26);
 424 }
 425
 426 /**
 427  * @brief Get field vel from gps2_raw message
 428  *
 429  * @return [cm/s] GPS ground speed. If unknown, set to: UINT16_MAX
 430  */
 431 static inline uint16_t mavlink_msg_gps2_raw_get_vel(const mavlink_message_t* msg)
 432 {
 433     return _MAV_RETURN_uint16_t(msg,  28);
 434 }
 435
 436 /**
 437  * @brief Get field cog from gps2_raw message
 438  *
 439  * @return [cdeg] Course over ground (NOT heading, but direction of movement): 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
 440  */
 441 static inline uint16_t mavlink_msg_gps2_raw_get_cog(const mavlink_message_t* msg)
 442 {
 443     return _MAV_RETURN_uint16_t(msg,  30);
 444 }
 445
 446 /**
 447  * @brief Get field satellites_visible from gps2_raw message
 448  *
 449  * @return  Number of satellites visible. If unknown, set to 255
 450  */
 451 static inline uint8_t mavlink_msg_gps2_raw_get_satellites_visible(const mavlink_message_t* msg)
 452 {
 453     return _MAV_RETURN_uint8_t(msg,  33);
 454 }
 455
 456 /**
 457  * @brief Get field dgps_numch from gps2_raw message
 458  *
 459  * @return  Number of DGPS satellites
 460  */
 461 static inline uint8_t mavlink_msg_gps2_raw_get_dgps_numch(const mavlink_message_t* msg)
 462 {
 463     return _MAV_RETURN_uint8_t(msg,  34);
 464 }
 465
 466 /**
 467  * @brief Get field dgps_age from gps2_raw message
 468  *
 469  * @return [ms] Age of DGPS info
 470  */
 471 static inline uint32_t mavlink_msg_gps2_raw_get_dgps_age(const mavlink_message_t* msg)
 472 {
 473     return _MAV_RETURN_uint32_t(msg,  20);
 474 }
 475
 476 /**
 477  * @brief Get field yaw from gps2_raw message
 478  *
 479  * @return [cdeg] Yaw in earth frame from north. Use 0 if this GPS does not provide yaw. Use 65535 if this GPS is configured to provide yaw and is currently unable to provide it. Use 36000 for north.
 480  */
 481 static inline uint16_t mavlink_msg_gps2_raw_get_yaw(const mavlink_message_t* msg)
 482 {
 483     return _MAV_RETURN_uint16_t(msg,  35);
 484 }
 485
 486 /**
 487  * @brief Decode a gps2_raw message into a struct
 488  *
 489  * @param msg The message to decode
 490  * @param gps2_raw C-struct to decode the message contents into
 491  */
 492 static inline void mavlink_msg_gps2_raw_decode(const mavlink_message_t* msg, mavlink_gps2_raw_t* gps2_raw)
 493 {
 494 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 495     gps2_raw->time_usec = mavlink_msg_gps2_raw_get_time_usec(msg);
 496     gps2_raw->lat = mavlink_msg_gps2_raw_get_lat(msg);
 497     gps2_raw->lon = mavlink_msg_gps2_raw_get_lon(msg);
 498     gps2_raw->alt = mavlink_msg_gps2_raw_get_alt(msg);
 499     gps2_raw->dgps_age = mavlink_msg_gps2_raw_get_dgps_age(msg);
 500     gps2_raw->eph = mavlink_msg_gps2_raw_get_eph(msg);
 501     gps2_raw->epv = mavlink_msg_gps2_raw_get_epv(msg);
 502     gps2_raw->vel = mavlink_msg_gps2_raw_get_vel(msg);
 503     gps2_raw->cog = mavlink_msg_gps2_raw_get_cog(msg);
 504     gps2_raw->fix_type = mavlink_msg_gps2_raw_get_fix_type(msg);
 505     gps2_raw->satellites_visible = mavlink_msg_gps2_raw_get_satellites_visible(msg);
 506     gps2_raw->dgps_numch = mavlink_msg_gps2_raw_get_dgps_numch(msg);
 507     gps2_raw->yaw = mavlink_msg_gps2_raw_get_yaw(msg);
 508 #else
 509         uint8_t len = msg->len < MAVLINK_MSG_ID_GPS2_RAW_LEN? msg->len : MAVLINK_MSG_ID_GPS2_RAW_LEN;
 510         memset(gps2_raw, 0, MAVLINK_MSG_ID_GPS2_RAW_LEN);
 511     memcpy(gps2_raw, _MAV_PAYLOAD(msg), len);
 512 #endif
 513 }