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; /*< [degE7] Latitude (WGS84)*/
   9  int32_t longitude; /*< [degE7] Longitude (WGS84)*/
  10  int32_t altitude; /*< [mm] Altitude (MSL). Positive for up.*/
  11  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.*/
  12 }) mavlink_gps_global_origin_t;
  13
  14 #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN 20
  15 #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_MIN_LEN 12
  16 #define MAVLINK_MSG_ID_49_LEN 20
  17 #define MAVLINK_MSG_ID_49_MIN_LEN 12
  18
  19 #define MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_CRC 39
  20 #define MAVLINK_MSG_ID_49_CRC 39
  21
  22
  23
  24 #if MAVLINK_COMMAND_24BIT
  25 #define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
  26     49, \
  27     "GPS_GLOBAL_ORIGIN", \
  28     4, \
  29     {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
  30          { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
  31          { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
  32          { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 12, offsetof(mavlink_gps_global_origin_t, time_usec) }, \
  33          } \
  34 }
  35 #else
  36 #define MAVLINK_MESSAGE_INFO_GPS_GLOBAL_ORIGIN { \
  37     "GPS_GLOBAL_ORIGIN", \
  38     4, \
  39     {  { "latitude", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_gps_global_origin_t, latitude) }, \
  40          { "longitude", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_gps_global_origin_t, longitude) }, \
  41          { "altitude", NULL, MAVLINK_TYPE_INT32_T, 0, 8, offsetof(mavlink_gps_global_origin_t, altitude) }, \
  42          { "time_usec", NULL, MAVLINK_TYPE_UINT64_T, 0, 12, offsetof(mavlink_gps_global_origin_t, time_usec) }, \
  43          } \
  44 }
  45 #endif
  46
  47 /**
  48  * @brief Pack a gps_global_origin message
  49  * @param system_id ID of this system
  50  * @param component_id ID of this component (e.g. 200 for IMU)
  51  * @param msg The MAVLink message to compress the data into
  52  *
  53  * @param latitude [degE7] Latitude (WGS84)
  54  * @param longitude [degE7] Longitude (WGS84)
  55  * @param altitude [mm] Altitude (MSL). Positive for up.
  56  * @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.
  57  * @return length of the message in bytes (excluding serial stream start sign)
  58  */
  59 static inline uint16_t mavlink_msg_gps_global_origin_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  60                                int32_t latitude, int32_t longitude, int32_t altitude, uint64_t time_usec)
  61 {
  62 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  63     char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
  64     _mav_put_int32_t(buf, 0, latitude);
  65     _mav_put_int32_t(buf, 4, longitude);
  66     _mav_put_int32_t(buf, 8, altitude);
  67     _mav_put_uint64_t(buf, 12, time_usec);
  68
  69         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
  70 #else
  71     mavlink_gps_global_origin_t packet;
  72     packet.latitude = latitude;
  73     packet.longitude = longitude;
  74     packet.altitude = altitude;
  75     packet.time_usec = time_usec;
  76
  77         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
  78 #endif
  79
  80     msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
  81     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);
  82 }
  83
  84 /**
  85  * @brief Pack a gps_global_origin message on a channel
  86  * @param system_id ID of this system
  87  * @param component_id ID of this component (e.g. 200 for IMU)
  88  * @param chan The MAVLink channel this message will be sent over
  89  * @param msg The MAVLink message to compress the data into
  90  * @param latitude [degE7] Latitude (WGS84)
  91  * @param longitude [degE7] Longitude (WGS84)
  92  * @param altitude [mm] Altitude (MSL). Positive for up.
  93  * @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.
  94  * @return length of the message in bytes (excluding serial stream start sign)
  95  */
  96 static inline uint16_t mavlink_msg_gps_global_origin_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
  97                                mavlink_message_t* msg,
  98                                    int32_t latitude,int32_t longitude,int32_t altitude,uint64_t time_usec)
  99 {
 100 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 101     char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
 102     _mav_put_int32_t(buf, 0, latitude);
 103     _mav_put_int32_t(buf, 4, longitude);
 104     _mav_put_int32_t(buf, 8, altitude);
 105     _mav_put_uint64_t(buf, 12, time_usec);
 106
 107         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
 108 #else
 109     mavlink_gps_global_origin_t packet;
 110     packet.latitude = latitude;
 111     packet.longitude = longitude;
 112     packet.altitude = altitude;
 113     packet.time_usec = time_usec;
 114
 115         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
 116 #endif
 117
 118     msg->msgid = MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN;
 119     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);
 120 }
 121
 122 /**
 123  * @brief Encode a gps_global_origin struct
 124  *
 125  * @param system_id ID of this system
 126  * @param component_id ID of this component (e.g. 200 for IMU)
 127  * @param msg The MAVLink message to compress the data into
 128  * @param gps_global_origin C-struct to read the message contents from
 129  */
 130 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)
 131 {
 132     return mavlink_msg_gps_global_origin_pack(system_id, component_id, msg, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude, gps_global_origin->time_usec);
 133 }
 134
 135 /**
 136  * @brief Encode a gps_global_origin struct on a channel
 137  *
 138  * @param system_id ID of this system
 139  * @param component_id ID of this component (e.g. 200 for IMU)
 140  * @param chan The MAVLink channel this message will be sent over
 141  * @param msg The MAVLink message to compress the data into
 142  * @param gps_global_origin C-struct to read the message contents from
 143  */
 144 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)
 145 {
 146     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, gps_global_origin->time_usec);
 147 }
 148
 149 /**
 150  * @brief Send a gps_global_origin message
 151  * @param chan MAVLink channel to send the message
 152  *
 153  * @param latitude [degE7] Latitude (WGS84)
 154  * @param longitude [degE7] Longitude (WGS84)
 155  * @param altitude [mm] Altitude (MSL). Positive for up.
 156  * @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.
 157  */
 158 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 159
 160 static inline void mavlink_msg_gps_global_origin_send(mavlink_channel_t chan, int32_t latitude, int32_t longitude, int32_t altitude, uint64_t time_usec)
 161 {
 162 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 163     char buf[MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN];
 164     _mav_put_int32_t(buf, 0, latitude);
 165     _mav_put_int32_t(buf, 4, longitude);
 166     _mav_put_int32_t(buf, 8, altitude);
 167     _mav_put_uint64_t(buf, 12, time_usec);
 168
 169     _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);
 170 #else
 171     mavlink_gps_global_origin_t packet;
 172     packet.latitude = latitude;
 173     packet.longitude = longitude;
 174     packet.altitude = altitude;
 175     packet.time_usec = time_usec;
 176
 177     _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);
 178 #endif
 179 }
 180
 181 /**
 182  * @brief Send a gps_global_origin message
 183  * @param chan MAVLink channel to send the message
 184  * @param struct The MAVLink struct to serialize
 185  */
 186 static inline void mavlink_msg_gps_global_origin_send_struct(mavlink_channel_t chan, const mavlink_gps_global_origin_t* gps_global_origin)
 187 {
 188 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 189     mavlink_msg_gps_global_origin_send(chan, gps_global_origin->latitude, gps_global_origin->longitude, gps_global_origin->altitude, gps_global_origin->time_usec);
 190 #else
 191     _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);
 192 #endif
 193 }
 194
 195 #if MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 196 /*
 197   This varient of _send() can be used to save stack space by re-using
 198   memory from the receive buffer.  The caller provides a
 199   mavlink_message_t which is the size of a full mavlink message. This
 200   is usually the receive buffer for the channel, and allows a reply to an
 201   incoming message with minimum stack space usage.
 202  */
 203 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, uint64_t time_usec)
 204 {
 205 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 206     char *buf = (char *)msgbuf;
 207     _mav_put_int32_t(buf, 0, latitude);
 208     _mav_put_int32_t(buf, 4, longitude);
 209     _mav_put_int32_t(buf, 8, altitude);
 210     _mav_put_uint64_t(buf, 12, time_usec);
 211
 212     _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);
 213 #else
 214     mavlink_gps_global_origin_t *packet = (mavlink_gps_global_origin_t *)msgbuf;
 215     packet->latitude = latitude;
 216     packet->longitude = longitude;
 217     packet->altitude = altitude;
 218     packet->time_usec = time_usec;
 219
 220     _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);
 221 #endif
 222 }
 223 #endif
 224
 225 #endif
 226
 227 // MESSAGE GPS_GLOBAL_ORIGIN UNPACKING
 228
 229
 230 /**
 231  * @brief Get field latitude from gps_global_origin message
 232  *
 233  * @return [degE7] Latitude (WGS84)
 234  */
 235 static inline int32_t mavlink_msg_gps_global_origin_get_latitude(const mavlink_message_t* msg)
 236 {
 237     return _MAV_RETURN_int32_t(msg,  0);
 238 }
 239
 240 /**
 241  * @brief Get field longitude from gps_global_origin message
 242  *
 243  * @return [degE7] Longitude (WGS84)
 244  */
 245 static inline int32_t mavlink_msg_gps_global_origin_get_longitude(const mavlink_message_t* msg)
 246 {
 247     return _MAV_RETURN_int32_t(msg,  4);
 248 }
 249
 250 /**
 251  * @brief Get field altitude from gps_global_origin message
 252  *
 253  * @return [mm] Altitude (MSL). Positive for up.
 254  */
 255 static inline int32_t mavlink_msg_gps_global_origin_get_altitude(const mavlink_message_t* msg)
 256 {
 257     return _MAV_RETURN_int32_t(msg,  8);
 258 }
 259
 260 /**
 261  * @brief Get field time_usec from gps_global_origin message
 262  *
 263  * @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.
 264  */
 265 static inline uint64_t mavlink_msg_gps_global_origin_get_time_usec(const mavlink_message_t* msg)
 266 {
 267     return _MAV_RETURN_uint64_t(msg,  12);
 268 }
 269
 270 /**
 271  * @brief Decode a gps_global_origin message into a struct
 272  *
 273  * @param msg The message to decode
 274  * @param gps_global_origin C-struct to decode the message contents into
 275  */
 276 static inline void mavlink_msg_gps_global_origin_decode(const mavlink_message_t* msg, mavlink_gps_global_origin_t* gps_global_origin)
 277 {
 278 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 279     gps_global_origin->latitude = mavlink_msg_gps_global_origin_get_latitude(msg);
 280     gps_global_origin->longitude = mavlink_msg_gps_global_origin_get_longitude(msg);
 281     gps_global_origin->altitude = mavlink_msg_gps_global_origin_get_altitude(msg);
 282     gps_global_origin->time_usec = mavlink_msg_gps_global_origin_get_time_usec(msg);
 283 #else
 284         uint8_t len = msg->len < MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN? msg->len : MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN;
 285         memset(gps_global_origin, 0, MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN_LEN);
 286     memcpy(gps_global_origin, _MAV_PAYLOAD(msg), len);
 287 #endif
 288 }