lib/main/MAVLink/common/mavlink_msg_terrain_report.h

   1 #pragma once
   2 // MESSAGE TERRAIN_REPORT PACKING
   3
   4 #define MAVLINK_MSG_ID_TERRAIN_REPORT 136
   5
   6
   7 typedef struct __mavlink_terrain_report_t {
   8  int32_t lat; /*< [degE7] Latitude*/
   9  int32_t lon; /*< [degE7] Longitude*/
  10  float terrain_height; /*< [m] Terrain height MSL*/
  11  float current_height; /*< [m] Current vehicle height above lat/lon terrain height*/
  12  uint16_t spacing; /*<  grid spacing (zero if terrain at this location unavailable)*/
  13  uint16_t pending; /*<  Number of 4x4 terrain blocks waiting to be received or read from disk*/
  14  uint16_t loaded; /*<  Number of 4x4 terrain blocks in memory*/
  15 } mavlink_terrain_report_t;
  16
  17 #define MAVLINK_MSG_ID_TERRAIN_REPORT_LEN 22
  18 #define MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN 22
  19 #define MAVLINK_MSG_ID_136_LEN 22
  20 #define MAVLINK_MSG_ID_136_MIN_LEN 22
  21
  22 #define MAVLINK_MSG_ID_TERRAIN_REPORT_CRC 1
  23 #define MAVLINK_MSG_ID_136_CRC 1
  24
  25
  26
  27 #if MAVLINK_COMMAND_24BIT
  28 #define MAVLINK_MESSAGE_INFO_TERRAIN_REPORT { \
  29     136, \
  30     "TERRAIN_REPORT", \
  31     7, \
  32     {  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_report_t, lat) }, \
  33          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_report_t, lon) }, \
  34          { "spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_terrain_report_t, spacing) }, \
  35          { "terrain_height", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_terrain_report_t, terrain_height) }, \
  36          { "current_height", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_terrain_report_t, current_height) }, \
  37          { "pending", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_terrain_report_t, pending) }, \
  38          { "loaded", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_terrain_report_t, loaded) }, \
  39          } \
  40 }
  41 #else
  42 #define MAVLINK_MESSAGE_INFO_TERRAIN_REPORT { \
  43     "TERRAIN_REPORT", \
  44     7, \
  45     {  { "lat", NULL, MAVLINK_TYPE_INT32_T, 0, 0, offsetof(mavlink_terrain_report_t, lat) }, \
  46          { "lon", NULL, MAVLINK_TYPE_INT32_T, 0, 4, offsetof(mavlink_terrain_report_t, lon) }, \
  47          { "spacing", NULL, MAVLINK_TYPE_UINT16_T, 0, 16, offsetof(mavlink_terrain_report_t, spacing) }, \
  48          { "terrain_height", NULL, MAVLINK_TYPE_FLOAT, 0, 8, offsetof(mavlink_terrain_report_t, terrain_height) }, \
  49          { "current_height", NULL, MAVLINK_TYPE_FLOAT, 0, 12, offsetof(mavlink_terrain_report_t, current_height) }, \
  50          { "pending", NULL, MAVLINK_TYPE_UINT16_T, 0, 18, offsetof(mavlink_terrain_report_t, pending) }, \
  51          { "loaded", NULL, MAVLINK_TYPE_UINT16_T, 0, 20, offsetof(mavlink_terrain_report_t, loaded) }, \
  52          } \
  53 }
  54 #endif
  55
  56 /**
  57  * @brief Pack a terrain_report message
  58  * @param system_id ID of this system
  59  * @param component_id ID of this component (e.g. 200 for IMU)
  60  * @param msg The MAVLink message to compress the data into
  61  *
  62  * @param lat [degE7] Latitude
  63  * @param lon [degE7] Longitude
  64  * @param spacing  grid spacing (zero if terrain at this location unavailable)
  65  * @param terrain_height [m] Terrain height MSL
  66  * @param current_height [m] Current vehicle height above lat/lon terrain height
  67  * @param pending  Number of 4x4 terrain blocks waiting to be received or read from disk
  68  * @param loaded  Number of 4x4 terrain blocks in memory
  69  * @return length of the message in bytes (excluding serial stream start sign)
  70  */
  71 static inline uint16_t mavlink_msg_terrain_report_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg,
  72                                int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
  73 {
  74 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
  75     char buf[MAVLINK_MSG_ID_TERRAIN_REPORT_LEN];
  76     _mav_put_int32_t(buf, 0, lat);
  77     _mav_put_int32_t(buf, 4, lon);
  78     _mav_put_float(buf, 8, terrain_height);
  79     _mav_put_float(buf, 12, current_height);
  80     _mav_put_uint16_t(buf, 16, spacing);
  81     _mav_put_uint16_t(buf, 18, pending);
  82     _mav_put_uint16_t(buf, 20, loaded);
  83
  84         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
  85 #else
  86     mavlink_terrain_report_t packet;
  87     packet.lat = lat;
  88     packet.lon = lon;
  89     packet.terrain_height = terrain_height;
  90     packet.current_height = current_height;
  91     packet.spacing = spacing;
  92     packet.pending = pending;
  93     packet.loaded = loaded;
  94
  95         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
  96 #endif
  97
  98     msg->msgid = MAVLINK_MSG_ID_TERRAIN_REPORT;
  99     return mavlink_finalize_message(msg, system_id, component_id, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 100 }
 101
 102 /**
 103  * @brief Pack a terrain_report message on a channel
 104  * @param system_id ID of this system
 105  * @param component_id ID of this component (e.g. 200 for IMU)
 106  * @param chan The MAVLink channel this message will be sent over
 107  * @param msg The MAVLink message to compress the data into
 108  * @param lat [degE7] Latitude
 109  * @param lon [degE7] Longitude
 110  * @param spacing  grid spacing (zero if terrain at this location unavailable)
 111  * @param terrain_height [m] Terrain height MSL
 112  * @param current_height [m] Current vehicle height above lat/lon terrain height
 113  * @param pending  Number of 4x4 terrain blocks waiting to be received or read from disk
 114  * @param loaded  Number of 4x4 terrain blocks in memory
 115  * @return length of the message in bytes (excluding serial stream start sign)
 116  */
 117 static inline uint16_t mavlink_msg_terrain_report_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan,
 118                                mavlink_message_t* msg,
 119                                    int32_t lat,int32_t lon,uint16_t spacing,float terrain_height,float current_height,uint16_t pending,uint16_t loaded)
 120 {
 121 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 122     char buf[MAVLINK_MSG_ID_TERRAIN_REPORT_LEN];
 123     _mav_put_int32_t(buf, 0, lat);
 124     _mav_put_int32_t(buf, 4, lon);
 125     _mav_put_float(buf, 8, terrain_height);
 126     _mav_put_float(buf, 12, current_height);
 127     _mav_put_uint16_t(buf, 16, spacing);
 128     _mav_put_uint16_t(buf, 18, pending);
 129     _mav_put_uint16_t(buf, 20, loaded);
 130
 131         memcpy(_MAV_PAYLOAD_NON_CONST(msg), buf, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 132 #else
 133     mavlink_terrain_report_t packet;
 134     packet.lat = lat;
 135     packet.lon = lon;
 136     packet.terrain_height = terrain_height;
 137     packet.current_height = current_height;
 138     packet.spacing = spacing;
 139     packet.pending = pending;
 140     packet.loaded = loaded;
 141
 142         memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 143 #endif
 144
 145     msg->msgid = MAVLINK_MSG_ID_TERRAIN_REPORT;
 146     return mavlink_finalize_message_chan(msg, system_id, component_id, chan, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 147 }
 148
 149 /**
 150  * @brief Encode a terrain_report struct
 151  *
 152  * @param system_id ID of this system
 153  * @param component_id ID of this component (e.g. 200 for IMU)
 154  * @param msg The MAVLink message to compress the data into
 155  * @param terrain_report C-struct to read the message contents from
 156  */
 157 static inline uint16_t mavlink_msg_terrain_report_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_terrain_report_t* terrain_report)
 158 {
 159     return mavlink_msg_terrain_report_pack(system_id, component_id, msg, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
 160 }
 161
 162 /**
 163  * @brief Encode a terrain_report struct on a channel
 164  *
 165  * @param system_id ID of this system
 166  * @param component_id ID of this component (e.g. 200 for IMU)
 167  * @param chan The MAVLink channel this message will be sent over
 168  * @param msg The MAVLink message to compress the data into
 169  * @param terrain_report C-struct to read the message contents from
 170  */
 171 static inline uint16_t mavlink_msg_terrain_report_encode_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, const mavlink_terrain_report_t* terrain_report)
 172 {
 173     return mavlink_msg_terrain_report_pack_chan(system_id, component_id, chan, msg, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
 174 }
 175
 176 /**
 177  * @brief Send a terrain_report message
 178  * @param chan MAVLink channel to send the message
 179  *
 180  * @param lat [degE7] Latitude
 181  * @param lon [degE7] Longitude
 182  * @param spacing  grid spacing (zero if terrain at this location unavailable)
 183  * @param terrain_height [m] Terrain height MSL
 184  * @param current_height [m] Current vehicle height above lat/lon terrain height
 185  * @param pending  Number of 4x4 terrain blocks waiting to be received or read from disk
 186  * @param loaded  Number of 4x4 terrain blocks in memory
 187  */
 188 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
 189
 190 static inline void mavlink_msg_terrain_report_send(mavlink_channel_t chan, int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
 191 {
 192 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 193     char buf[MAVLINK_MSG_ID_TERRAIN_REPORT_LEN];
 194     _mav_put_int32_t(buf, 0, lat);
 195     _mav_put_int32_t(buf, 4, lon);
 196     _mav_put_float(buf, 8, terrain_height);
 197     _mav_put_float(buf, 12, current_height);
 198     _mav_put_uint16_t(buf, 16, spacing);
 199     _mav_put_uint16_t(buf, 18, pending);
 200     _mav_put_uint16_t(buf, 20, loaded);
 201
 202     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, buf, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 203 #else
 204     mavlink_terrain_report_t packet;
 205     packet.lat = lat;
 206     packet.lon = lon;
 207     packet.terrain_height = terrain_height;
 208     packet.current_height = current_height;
 209     packet.spacing = spacing;
 210     packet.pending = pending;
 211     packet.loaded = loaded;
 212
 213     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)&packet, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 214 #endif
 215 }
 216
 217 /**
 218  * @brief Send a terrain_report message
 219  * @param chan MAVLink channel to send the message
 220  * @param struct The MAVLink struct to serialize
 221  */
 222 static inline void mavlink_msg_terrain_report_send_struct(mavlink_channel_t chan, const mavlink_terrain_report_t* terrain_report)
 223 {
 224 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 225     mavlink_msg_terrain_report_send(chan, terrain_report->lat, terrain_report->lon, terrain_report->spacing, terrain_report->terrain_height, terrain_report->current_height, terrain_report->pending, terrain_report->loaded);
 226 #else
 227     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)terrain_report, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 228 #endif
 229 }
 230
 231 #if MAVLINK_MSG_ID_TERRAIN_REPORT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
 232 /*
 233   This varient of _send() can be used to save stack space by re-using
 234   memory from the receive buffer.  The caller provides a
 235   mavlink_message_t which is the size of a full mavlink message. This
 236   is usually the receive buffer for the channel, and allows a reply to an
 237   incoming message with minimum stack space usage.
 238  */
 239 static inline void mavlink_msg_terrain_report_send_buf(mavlink_message_t *msgbuf, mavlink_channel_t chan,  int32_t lat, int32_t lon, uint16_t spacing, float terrain_height, float current_height, uint16_t pending, uint16_t loaded)
 240 {
 241 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 242     char *buf = (char *)msgbuf;
 243     _mav_put_int32_t(buf, 0, lat);
 244     _mav_put_int32_t(buf, 4, lon);
 245     _mav_put_float(buf, 8, terrain_height);
 246     _mav_put_float(buf, 12, current_height);
 247     _mav_put_uint16_t(buf, 16, spacing);
 248     _mav_put_uint16_t(buf, 18, pending);
 249     _mav_put_uint16_t(buf, 20, loaded);
 250
 251     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, buf, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 252 #else
 253     mavlink_terrain_report_t *packet = (mavlink_terrain_report_t *)msgbuf;
 254     packet->lat = lat;
 255     packet->lon = lon;
 256     packet->terrain_height = terrain_height;
 257     packet->current_height = current_height;
 258     packet->spacing = spacing;
 259     packet->pending = pending;
 260     packet->loaded = loaded;
 261
 262     _mav_finalize_message_chan_send(chan, MAVLINK_MSG_ID_TERRAIN_REPORT, (const char *)packet, MAVLINK_MSG_ID_TERRAIN_REPORT_MIN_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN, MAVLINK_MSG_ID_TERRAIN_REPORT_CRC);
 263 #endif
 264 }
 265 #endif
 266
 267 #endif
 268
 269 // MESSAGE TERRAIN_REPORT UNPACKING
 270
 271
 272 /**
 273  * @brief Get field lat from terrain_report message
 274  *
 275  * @return [degE7] Latitude
 276  */
 277 static inline int32_t mavlink_msg_terrain_report_get_lat(const mavlink_message_t* msg)
 278 {
 279     return _MAV_RETURN_int32_t(msg,  0);
 280 }
 281
 282 /**
 283  * @brief Get field lon from terrain_report message
 284  *
 285  * @return [degE7] Longitude
 286  */
 287 static inline int32_t mavlink_msg_terrain_report_get_lon(const mavlink_message_t* msg)
 288 {
 289     return _MAV_RETURN_int32_t(msg,  4);
 290 }
 291
 292 /**
 293  * @brief Get field spacing from terrain_report message
 294  *
 295  * @return  grid spacing (zero if terrain at this location unavailable)
 296  */
 297 static inline uint16_t mavlink_msg_terrain_report_get_spacing(const mavlink_message_t* msg)
 298 {
 299     return _MAV_RETURN_uint16_t(msg,  16);
 300 }
 301
 302 /**
 303  * @brief Get field terrain_height from terrain_report message
 304  *
 305  * @return [m] Terrain height MSL
 306  */
 307 static inline float mavlink_msg_terrain_report_get_terrain_height(const mavlink_message_t* msg)
 308 {
 309     return _MAV_RETURN_float(msg,  8);
 310 }
 311
 312 /**
 313  * @brief Get field current_height from terrain_report message
 314  *
 315  * @return [m] Current vehicle height above lat/lon terrain height
 316  */
 317 static inline float mavlink_msg_terrain_report_get_current_height(const mavlink_message_t* msg)
 318 {
 319     return _MAV_RETURN_float(msg,  12);
 320 }
 321
 322 /**
 323  * @brief Get field pending from terrain_report message
 324  *
 325  * @return  Number of 4x4 terrain blocks waiting to be received or read from disk
 326  */
 327 static inline uint16_t mavlink_msg_terrain_report_get_pending(const mavlink_message_t* msg)
 328 {
 329     return _MAV_RETURN_uint16_t(msg,  18);
 330 }
 331
 332 /**
 333  * @brief Get field loaded from terrain_report message
 334  *
 335  * @return  Number of 4x4 terrain blocks in memory
 336  */
 337 static inline uint16_t mavlink_msg_terrain_report_get_loaded(const mavlink_message_t* msg)
 338 {
 339     return _MAV_RETURN_uint16_t(msg,  20);
 340 }
 341
 342 /**
 343  * @brief Decode a terrain_report message into a struct
 344  *
 345  * @param msg The message to decode
 346  * @param terrain_report C-struct to decode the message contents into
 347  */
 348 static inline void mavlink_msg_terrain_report_decode(const mavlink_message_t* msg, mavlink_terrain_report_t* terrain_report)
 349 {
 350 #if MAVLINK_NEED_BYTE_SWAP || !MAVLINK_ALIGNED_FIELDS
 351     terrain_report->lat = mavlink_msg_terrain_report_get_lat(msg);
 352     terrain_report->lon = mavlink_msg_terrain_report_get_lon(msg);
 353     terrain_report->terrain_height = mavlink_msg_terrain_report_get_terrain_height(msg);
 354     terrain_report->current_height = mavlink_msg_terrain_report_get_current_height(msg);
 355     terrain_report->spacing = mavlink_msg_terrain_report_get_spacing(msg);
 356     terrain_report->pending = mavlink_msg_terrain_report_get_pending(msg);
 357     terrain_report->loaded = mavlink_msg_terrain_report_get_loaded(msg);
 358 #else
 359         uint8_t len = msg->len < MAVLINK_MSG_ID_TERRAIN_REPORT_LEN? msg->len : MAVLINK_MSG_ID_TERRAIN_REPORT_LEN;
 360         memset(terrain_report, 0, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
 361     memcpy(terrain_report, _MAV_PAYLOAD(msg), len);
 362 #endif
 363 }