Merge remote-tracking branch 'upstream/master' into abo_fw_alt_vel_control
[inav.git] / lib / main / MAVLink / common / mavlink_msg_terrain_report.h
blob8757a75a273b949ecc87ded5125c3c0c6ef0e5ac
1 #pragma once
2 // MESSAGE TERRAIN_REPORT PACKING
4 #define MAVLINK_MSG_ID_TERRAIN_REPORT 136
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;
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
22 #define MAVLINK_MSG_ID_TERRAIN_REPORT_CRC 1
23 #define MAVLINK_MSG_ID_136_CRC 1
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 } \
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 } \
54 #endif
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
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)
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)
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);
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;
95 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
96 #endif
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);
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)
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)
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);
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;
142 memcpy(_MAV_PAYLOAD_NON_CONST(msg), &packet, MAVLINK_MSG_ID_TERRAIN_REPORT_LEN);
143 #endif
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);
150 * @brief Encode a terrain_report struct
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
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)
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);
163 * @brief Encode a terrain_report struct on a channel
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
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)
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);
177 * @brief Send a terrain_report message
178 * @param chan MAVLink channel to send the message
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
188 #ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS
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)
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);
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;
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
218 * @brief Send a terrain_report message
219 * @param chan MAVLink channel to send the message
220 * @param struct The MAVLink struct to serialize
222 static inline void mavlink_msg_terrain_report_send_struct(mavlink_channel_t chan, const mavlink_terrain_report_t* terrain_report)
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
231 #if MAVLINK_MSG_ID_TERRAIN_REPORT_LEN <= MAVLINK_MAX_PAYLOAD_LEN
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.
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)
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);
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;
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
265 #endif
267 #endif
269 // MESSAGE TERRAIN_REPORT UNPACKING
273 * @brief Get field lat from terrain_report message
275 * @return [degE7] Latitude
277 static inline int32_t mavlink_msg_terrain_report_get_lat(const mavlink_message_t* msg)
279 return _MAV_RETURN_int32_t(msg, 0);
283 * @brief Get field lon from terrain_report message
285 * @return [degE7] Longitude
287 static inline int32_t mavlink_msg_terrain_report_get_lon(const mavlink_message_t* msg)
289 return _MAV_RETURN_int32_t(msg, 4);
293 * @brief Get field spacing from terrain_report message
295 * @return grid spacing (zero if terrain at this location unavailable)
297 static inline uint16_t mavlink_msg_terrain_report_get_spacing(const mavlink_message_t* msg)
299 return _MAV_RETURN_uint16_t(msg, 16);
303 * @brief Get field terrain_height from terrain_report message
305 * @return [m] Terrain height MSL
307 static inline float mavlink_msg_terrain_report_get_terrain_height(const mavlink_message_t* msg)
309 return _MAV_RETURN_float(msg, 8);
313 * @brief Get field current_height from terrain_report message
315 * @return [m] Current vehicle height above lat/lon terrain height
317 static inline float mavlink_msg_terrain_report_get_current_height(const mavlink_message_t* msg)
319 return _MAV_RETURN_float(msg, 12);
323 * @brief Get field pending from terrain_report message
325 * @return Number of 4x4 terrain blocks waiting to be received or read from disk
327 static inline uint16_t mavlink_msg_terrain_report_get_pending(const mavlink_message_t* msg)
329 return _MAV_RETURN_uint16_t(msg, 18);
333 * @brief Get field loaded from terrain_report message
335 * @return Number of 4x4 terrain blocks in memory
337 static inline uint16_t mavlink_msg_terrain_report_get_loaded(const mavlink_message_t* msg)
339 return _MAV_RETURN_uint16_t(msg, 20);
343 * @brief Decode a terrain_report message into a struct
345 * @param msg The message to decode
346 * @param terrain_report C-struct to decode the message contents into
348 static inline void mavlink_msg_terrain_report_decode(const mavlink_message_t* msg, mavlink_terrain_report_t* terrain_report)
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